| { |
| "examples": [ |
| { |
| "id": "reversing_action_sequences_0", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place orange_juice (\"orange_juice_1\") at the front-right of the main table area (\"main_front_right_region\").", |
| "Place milk (\"milk_1\") at the back-right of the main table area (\"main_back_right_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 wooden_tray (\"wooden_tray_2_contain_region\").", |
| "Step 2 — Pick up the orange_juice (\"orange_juice_1\") from the front-right of the main table area (\"main_front_right_region\") and place it into the back 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "orange_juice_1", |
| "milk_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, wooden_tray_2_contain_region)", |
| "PICK(orange_juice_1, main_front_right_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(milk_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, wooden_tray_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(orange_juice_1, main_front_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(orange_juice_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_1", |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, wooden_tray_2_contain_region)", |
| "PICK(orange_juice_1, main_front_right_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, wooden_tray_2_contain_region)", |
| "PICK(orange_juice_1, main_back_left_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_0.bddl", |
| "video": { |
| "front": "front/GX010212.MP4", |
| "side": "side/GX010194.MP4", |
| "oblique": "oblique/GX010223.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_1", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place orange_juice (\"orange_juice_1\") at the back-center of the main table area (\"main_back_center_region\").", |
| "Place milk (\"milk_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 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 2 — Pick up the orange_juice (\"orange_juice_1\") from the back-center of the main table area (\"main_back_center_region\") and place it at the front-right of the main table area (\"main_front_right_region\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "orange_juice_1", |
| "milk_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, main_back_right_region)", |
| "PICK(orange_juice_1, main_back_center_region)", |
| "PLACE(orange_juice_1, main_front_right_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(milk_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(orange_juice_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(orange_juice_1, main_front_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_1", |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, main_back_right_region)", |
| "PICK(orange_juice_1, main_back_center_region)", |
| "PLACE(orange_juice_1, main_front_right_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, main_front_left_region)", |
| "PICK(orange_juice_1, main_front_center_region)", |
| "PLACE(orange_juice_1, main_back_left_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_1.bddl", |
| "video": { |
| "front": "front/GX010213.MP4", |
| "side": "side/GX010195.MP4", |
| "oblique": "oblique/GX010224.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_2", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a milk carton (\"milk_1\") at the back-center of the table (\"main_back_center_region\").", |
| "Place a milk carton (\"milk_2\") at the middle-center of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the milk carton (\"milk_2\") from the middle-center of the table (\"main_middle_center_region\") and place it at the back-left of the table (\"main_back_left_region\").", |
| "Step 2 — Pick up the milk carton (\"milk_1\") from the back-center of the table (\"main_back_center_region\") and place it at the middle-center of the table (\"main_middle_center_region\").", |
| "Step 3 — Pick up the milk carton (\"milk_2\") from the back-left of the table (\"main_back_left_region\") and place it at the middle-right of the table (\"main_middle_right_region\"). Then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_center_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, main_back_left_region)", |
| "PICK(milk_1, main_back_center_region)", |
| "PLACE(milk_1, main_middle_center_region)", |
| "PICK(milk_2, main_back_left_region)", |
| "PLACE(milk_2, main_middle_right_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(milk_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_2, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_2, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_2, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_2", |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, main_back_left_region)", |
| "PICK(milk_1, main_back_center_region)", |
| "PLACE(milk_1, main_middle_center_region)", |
| "PICK(milk_2, main_back_left_region)", |
| "PLACE(milk_2, main_middle_right_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, main_front_right_region)", |
| "PICK(milk_1, main_front_center_region)", |
| "PLACE(milk_1, main_middle_center_region)", |
| "PICK(milk_2, main_front_right_region)", |
| "PLACE(milk_2, main_middle_left_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_2.bddl", |
| "video": { |
| "front": "front/GX010214.MP4", |
| "side": "side/GX010196.MP4", |
| "oblique": "oblique/GX010225.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_3", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a milk (\"milk_1\") at the back-right of the main table area (\"main_back_right_region\").", |
| "Place a milk (\"milk_2\") at the middle-center of the main table area (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the milk (\"milk_2\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the front wooden_tray (\"wooden_tray_2_contain_region\").", |
| "Step 2 — Pick up the milk (\"milk_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the back 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_center_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, wooden_tray_2_contain_region)", |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(milk_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_2, wooden_tray_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_2", |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, wooden_tray_2_contain_region)", |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, wooden_tray_2_contain_region)", |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_3.bddl", |
| "video": { |
| "front": "front/GX010215.MP4", |
| "side": "side/GX010197.MP4", |
| "oblique": "oblique/GX010226.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_4", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place milk (\"milk_1\") inside the front wooden_tray (\"wooden_tray_2_contain_region\").", |
| "Place butter (\"butter_1\") at the main middle-center area of the table (\"main_middle_center_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the main middle-left area of the table (\"main_middle_left_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_1\") from the main middle-center area (\"main_middle_center_region\") and place it at the main back-left area (\"main_back_left_region\"). ", |
| "Step 2 — Pick up the butter (\"butter_1\") from the main back-left area (\"main_back_left_region\") and place it back at the main middle-center area (\"main_middle_center_region\"). ", |
| "Step 3 — Pick up the cream_cheese (\"cream_cheese_1\") from the main middle-left area (\"main_middle_left_region\") and place it at the main back-left area (\"main_back_left_region\"). ", |
| "Step 4 — Pick up the milk (\"milk_1\") from the front wooden_tray (\"wooden_tray_2_contain_region\") and place it at the main back-right area (\"main_back_right_region\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "milk_1", |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, main_back_left_region)", |
| "PICK(butter_1, main_back_left_region)", |
| "PLACE(butter_1, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, main_back_left_region)", |
| "PICK(milk_1, wooden_tray_2_contain_region)", |
| "PLACE(milk_1, main_back_right_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_1, wooden_tray_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_1", |
| "cream_cheese_1", |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, main_back_left_region)", |
| "PICK(butter_1, main_back_left_region)", |
| "PLACE(butter_1, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, main_back_left_region)", |
| "PICK(milk_1, wooden_tray_2_contain_region)", |
| "PLACE(milk_1, main_back_right_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, main_front_right_region)", |
| "PICK(butter_1, main_front_right_region)", |
| "PLACE(butter_1, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, main_front_right_region)", |
| "PICK(milk_1, wooden_tray_2_contain_region)", |
| "PLACE(milk_1, main_front_left_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_4.bddl", |
| "video": { |
| "front": "front/GX010216.MP4", |
| "side": "side/GX010198.MP4", |
| "oblique": "oblique/GX010227.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_5", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place a wooden_tray (\"wooden_tray_2\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a milk (\"milk_1\") into the front wooden_tray (\"wooden_tray_2_contain_region\").", |
| "Place a butter (\"butter_1\") at the middle-right area of the table (\"main_middle_right_region\").", |
| "Place a cream_cheese (\"cream_cheese_1\") at the middle-center area of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_1\") from the middle-right area (\"main_middle_right_region\") and place it at the back-right area of the table (\"main_back_right_region\"). ", |
| "Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center area (\"main_middle_center_region\") and place it at the middle-left area of the table (\"main_middle_left_region\"). ", |
| "Step 3 — Pick up the butter (\"butter_1\") from the back-right area (\"main_back_right_region\") and place it at the middle-center area of the table (\"main_middle_center_region\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "milk_1", |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, main_back_right_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, main_middle_left_region)", |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, main_back_right_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, main_middle_left_region)", |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, main_front_left_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, main_middle_right_region)", |
| "PICK(butter_1, main_front_left_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_5.bddl", |
| "video": { |
| "front": "front/GX010217.MP4", |
| "side": "side/GX010199.MP4", |
| "oblique": "oblique/GX010228.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 butter (\"butter_1\") on the back-right area of the table (\"main_back_right_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") on the middle-center area of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_1\") from the back-right area of the table (\"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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_6.bddl", |
| "video": { |
| "front": "front/GX010284.MP4", |
| "side": "side/GX010266.MP4", |
| "oblique": "oblique/GX010295.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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\"). Then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, main_middle_center_region)", |
| "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" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_2, main_back_left_region)", |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_1_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_7.bddl", |
| "video": { |
| "front": "front/GX010285.MP4", |
| "side": "side/GX010267.MP4", |
| "oblique": "oblique/GX010296.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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\") inside 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_8.bddl", |
| "video": { |
| "front": "front/GX010286.MP4", |
| "side": "side/GX010268.MP4", |
| "oblique": "oblique/GX010297.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 cream_cheese (\"cream_cheese_1\") in the middle-right region of the table (\"main_middle_right_region\").", |
| "Place ketchup (\"ketchup_1\") in the middle-center region of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the ketchup (\"ketchup_1\") from the middle-center region of the table (\"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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(ketchup_1, main_middle_center_region)", |
| "PLACE(ketchup_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(ketchup_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(ketchup_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_9.bddl", |
| "video": { |
| "front": "front/GX010287.MP4", |
| "side": "side/GX010269.MP4", |
| "oblique": "oblique/GX010298.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 cream_cheese (\"cream_cheese_1\") at the middle-right area of the table (\"main_middle_right_region\").", |
| "Place milk (\"milk_1\") at 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\") at 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 of the table (\"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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(ketchup_1, main_back_right_region)", |
| "PLACE(ketchup_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(ketchup_1, main_back_right_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(ketchup_1, basket_2_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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(ketchup_1, main_back_right_region)", |
| "PLACE(ketchup_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_left_region)", |
| "PLACE(ketchup_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_10.bddl", |
| "video": { |
| "front": "front/GX010288.MP4", |
| "side": "side/GX010270.MP4", |
| "oblique": "oblique/GX010299.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(cream_cheese_2, main_front_right_region)", |
| "PLACE(cream_cheese_2, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_2, main_front_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(cream_cheese_2, main_front_right_region)", |
| "PLACE(cream_cheese_2, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_front_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(cream_cheese_2, main_back_left_region)", |
| "PLACE(cream_cheese_2, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_11.bddl", |
| "video": { |
| "front": "front/GX010289.MP4", |
| "side": "side/GX010271.MP4", |
| "oblique": "oblique/GX010300.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 middle-center of the table (\"main_middle_center_region\").", |
| "Place cream_cheese (\"cream_cheese_2\") at the middle-right of the table (\"main_middle_right_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_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_2\") from the middle-right of the table (\"main_middle_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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_2, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_12.bddl", |
| "video": { |
| "front": "front/GX010290.MP4", |
| "side": "side/GX010272.MP4", |
| "oblique": "oblique/GX010301.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(tomato_sauce_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_13.bddl", |
| "video": { |
| "front": "front/GX010291.MP4", |
| "side": "side/GX010273.MP4", |
| "oblique": "oblique/GX010302.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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\"). Then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(tomato_sauce_1, main_front_center_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(tomato_sauce_1, main_front_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(tomato_sauce_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(new_salad_dressing_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "tomato_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(tomato_sauce_1, main_front_center_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(tomato_sauce_1, main_back_center_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_2_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_14.bddl", |
| "video": { |
| "front": "front/GX010292.MP4", |
| "side": "side/GX010274.MP4", |
| "oblique": "oblique/GX010303.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 new_salad_dressing (\"new_salad_dressing_1\") on the middle-right area of the table (\"main_middle_right_region\").", |
| "Place tomato_sauce (\"tomato_sauce_1\") on the back-right area of the table (\"main_back_right_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the new_salad_dressing (\"new_salad_dressing_1\") from the middle-right area 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 back-right area of the table (\"main_back_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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(new_salad_dressing_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(tomato_sauce_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_15.bddl", |
| "video": { |
| "front": "front/GX010293.MP4", |
| "side": "side/GX010275.MP4", |
| "oblique": "oblique/GX010304.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 new_salad_dressing (\"new_salad_dressing_1\") at the back-left of the main table area (\"main_back_left_region\").", |
| "Place new_salad_dressing (\"new_salad_dressing_2\") at the middle-right of the main table area (\"main_middle_right_region\").", |
| "Place tomato_sauce (\"tomato_sauce_1\") at the back-right of the main table area (\"main_back_right_region\").", |
| "Place butter (\"butter_1\") at the middle-center of the main table area (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the new_salad_dressing (\"new_salad_dressing_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 2 — Pick up the butter (\"butter_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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(new_salad_dressing_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(new_salad_dressing_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "new_salad_dressing_1", |
| "butter_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_16.bddl", |
| "video": { |
| "front": "front/GX010294.MP4", |
| "side": "side/GX010276.MP4", |
| "oblique": "oblique/GX010305.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(tomato_sauce_1, main_back_center_region)", |
| "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(tomato_sauce_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(new_salad_dressing_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "tomato_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(tomato_sauce_1, main_back_center_region)", |
| "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(tomato_sauce_1, main_front_center_region)", |
| "PLACE(tomato_sauce_1, basket_2_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, basket_1_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_17.bddl", |
| "video": { |
| "front": "front/GX010295.MP4", |
| "side": "side/GX010277.MP4", |
| "oblique": "oblique/GX010306.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 cream_cheese (\"cream_cheese_1\") at the main back-center of the table (\"main_back_center_region\").", |
| "Place cream_cheese (\"cream_cheese_2\") at the main back-right of the table (\"main_back_right_region\").", |
| "Place butter (\"butter_1\") at the main middle-center of the table (\"main_middle_center_region\").", |
| "Place butter (\"butter_2\") into the front basket (\"basket_2_contain_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the main back-center of the table (\"main_back_center_region\") and place it into the back basket (\"basket_1_contain_region\"). ", |
| "Step 2 — Pick up the cream_cheese (\"cream_cheese_2\") from the main back-right of the table (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\"). ", |
| "Step 3 — Pick up the butter (\"butter_1\") from the main 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_2, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "butter_1" |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_18.bddl", |
| "video": { |
| "front": "front/GX010296.MP4", |
| "side": "side/GX010278.MP4", |
| "oblique": "oblique/GX010307.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 cream_cheese (\"cream_cheese_1\") at the back-right of the main table area (\"main_back_right_region\").", |
| "Place cream_cheese (\"cream_cheese_2\") at the middle-left of the main table area (\"main_middle_left_region\").", |
| "Place cream_cheese (\"cream_cheese_3\") at the middle-center of the main table area (\"main_middle_center_region\").", |
| "Place butter (\"butter_1\") into the front basket (\"basket_2_contain_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_2\") from the middle-left of the main table area (\"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 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_2, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_3, main_middle_center_region)", |
| "states": [ |
| [ |
| "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", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_3, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_19.bddl", |
| "video": { |
| "front": "front/GX010297.MP4", |
| "side": "side/GX010279.MP4", |
| "oblique": "oblique/GX010308.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 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\") inside 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_3, main_middle_right_region)", |
| "PLACE(cream_cheese_3, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_back_left_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "PICK(cream_cheese_3, main_middle_center_region)", |
| "PLACE(cream_cheese_3, main_back_right_region)", |
| "PICK(cream_cheese_2, main_back_center_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_3, main_middle_right_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_3, main_middle_center_region)", |
| "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_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_3, main_middle_center_region)", |
| "states": [ |
| [ |
| "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_back_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_3, main_back_right_region)", |
| "states": [ |
| [ |
| "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_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_2, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_3", |
| "cream_cheese_1", |
| "cream_cheese_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_3, main_middle_right_region)", |
| "PLACE(cream_cheese_3, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_back_left_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "PICK(cream_cheese_3, main_middle_center_region)", |
| "PLACE(cream_cheese_3, main_back_right_region)", |
| "PICK(cream_cheese_2, main_back_center_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_3, main_middle_left_region)", |
| "PLACE(cream_cheese_3, main_middle_center_region)", |
| "PICK(cream_cheese_1, main_front_right_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "PICK(cream_cheese_3, main_middle_center_region)", |
| "PLACE(cream_cheese_3, main_front_left_region)", |
| "PICK(cream_cheese_2, main_front_center_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" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_20.bddl", |
| "video": { |
| "front": "front/GX010298.MP4", |
| "side": "side/GX010280.MP4", |
| "oblique": "oblique/GX010309.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_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 milk (\"milk_1\") at the main middle-center area of the table (\"main_middle_center_region\").", |
| "Place orange_juice (\"orange_juice_1\") into the basket (\"basket_1_contain_region\").", |
| "Place butter (\"butter_1\") at the main back-right area of the table (\"main_back_right_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_1\") from the main back-right area of the table (\"main_back_right_region\") and place it into the basket (\"basket_2_contain_region\"). ", |
| "Step 2 — Pick up the milk (\"milk_1\") from the main middle-center area 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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_2_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(milk_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_front_left_region)", |
| "PLACE(butter_1, basket_2_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_22.bddl", |
| "video": { |
| "front": "front/GX010300.MP4", |
| "side": "side/GX010282.MP4", |
| "oblique": "oblique/GX010311.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_23", |
| "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 (\"milk_1\") at the back-right of the main table area (\"main_back_right_region\").", |
| "Place an 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\"). Then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(milk_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(milk_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(orange_juice_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(orange_juice_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_23.bddl", |
| "video": { |
| "front": "front/GX010301.MP4", |
| "side": "side/GX010283.MP4", |
| "oblique": "oblique/GX010312.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_24", |
| "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\") on the middle-left area of the table (\"main_middle_left_region\").", |
| "Place butter (\"butter_2\") on the front-center area of the table (\"main_front_center_region\").", |
| "Place orange_juice (\"orange_juice_1\") on the middle-center area of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_2\") from the front-center area of the table (\"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 middle-left area of the table (\"main_middle_left_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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_front_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_back_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_24.bddl", |
| "video": { |
| "front": "front/GX010302.MP4", |
| "side": "side/GX010284.MP4", |
| "oblique": "oblique/GX010313.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_25", |
| "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 table (\"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 table (\"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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_back_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_front_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_25.bddl", |
| "video": { |
| "front": "front/GX010303.MP4", |
| "side": "side/GX010285.MP4", |
| "oblique": "oblique/GX010314.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_26", |
| "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\")." |
| ], |
| "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 front basket (\"basket_2_contain_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 back basket (\"basket_1_contain_region\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_2, main_front_left_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_front_left_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_back_right_region)", |
| "PLACE(butter_2, basket_2_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_26.bddl", |
| "video": { |
| "front": "front/GX010304.MP4", |
| "side": "side/GX010286.MP4", |
| "oblique": "oblique/GX010315.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_27", |
| "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 front 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 back 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 back basket (\"basket_1_contain_region\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)", |
| "PICK(butter_2, main_front_left_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_2, main_front_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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", |
| "cream_cheese_1", |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "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)", |
| "PICK(butter_2, main_front_left_region)", |
| "PLACE(butter_2, 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_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_2, main_back_right_region)", |
| "PLACE(butter_2, 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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_27.bddl", |
| "video": { |
| "front": "front/GX010305.MP4", |
| "side": "side/GX010287.MP4", |
| "oblique": "oblique/GX010316.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_28", |
| "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\"), then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_28.bddl", |
| "video": { |
| "front": "front/GX010306.MP4", |
| "side": "side/GX010288.MP4", |
| "oblique": "oblique/GX010317.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_29", |
| "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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "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_back_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_right_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "butter_1", |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_29.bddl", |
| "video": { |
| "front": "front/GX010307.MP4", |
| "side": "side/GX010289.MP4", |
| "oblique": "oblique/GX010318.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_30", |
| "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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "cream_cheese_1", |
| "butter_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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_30.bddl", |
| "video": { |
| "front": "front/GX010308.MP4", |
| "side": "side/GX010290.MP4", |
| "oblique": "oblique/GX010319.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_31", |
| "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\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)", |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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_2", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)", |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)", |
| "PICK(butter_1, main_front_center_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_31.bddl", |
| "video": { |
| "front": "front/GX010309.MP4", |
| "side": "side/GX010291.MP4", |
| "oblique": "oblique/GX010320.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_32", |
| "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: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, main_back_center_region)", |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_2, main_front_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_2, main_back_center_region)", |
| "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_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, main_middle_center_region)", |
| "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_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" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_center_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_2", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, main_back_center_region)", |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_back_center_region)", |
| "PLACE(butter_2, main_front_center_region)", |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, main_middle_center_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_center_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_32.bddl", |
| "video": { |
| "front": "front/GX010311.MP4", |
| "side": "side/GX010293.MP4", |
| "oblique": "oblique/GX010322.MP4" |
| } |
| }, |
| { |
| "id": "reversing_action_sequences_33", |
| "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\"). " |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_right_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_5_REVERSING_ACTION_SEQUENCES_REVERSING_ACTION_SEQUENCES_33.bddl", |
| "video": { |
| "front": "front/GX010313.MP4", |
| "side": "side/GX010295.MP4", |
| "oblique": "oblique/GX010324.MP4" |
| } |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_0", |
| "human_video_instruction": { |
| "setup": [ |
| "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 cream_cheese (\"cream_cheese_1\") at the middle-left of the main table area (\"main_middle_left_region\").", |
| "Place another cream_cheese (\"cream_cheese_2\") 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-center of the main table area (\"main_back_center_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s.", |
| "Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-left of the main table area (\"main_middle_left_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "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)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_0.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_1", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") at the front of the table (\"fixture_front_region\").", |
| "Place butter (\"butter_1\") at the back-center of the main table area (\"main_back_center_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the middle-left of the main table area (\"main_middle_left_region\").", |
| "Place cream_cheese (\"cream_cheese_2\") at the middle-center of the main table area (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-left of the main table area (\"main_middle_left_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s.", |
| "Step 2 — Pick up the butter (\"butter_1\") from the back-center of the main table area (\"main_back_center_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_front_center_region)", |
| "PLACE(butter_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_1.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_2", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") at the front of the table (\"fixture_front_region\").", |
| "Place butter (\"butter_1\") in the middle-left area of the main table surface (\"main_middle_left_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") in the middle-center area of the main table surface (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the butter (\"butter_1\") from the middle-left area of the main table surface (\"main_middle_left_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(butter_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_2.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_3", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") at the front of the table (\"fixture_front_region\").", |
| "Place butter (\"butter_1\") at the middle-left of the main table area (\"main_middle_left_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 cream_cheese (\"cream_cheese_1\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_3.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_4", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place another basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place the cream_cheese (\"cream_cheese_1\") at the main middle-center of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the main middle-center of the table (\"main_middle_center_region\") and place it into the back basket (\"basket_2_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_4.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_5", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place another basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") in the middle of the main area of the table (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle of the main area of the table (\"main_middle_center_region\") and place it into the front basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| } |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_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/GX010472.MP4", |
| "side": "side/GX010482.MP4", |
| "oblique": "oblique/GX010483.MP4" |
| }, |
| "bddl_file": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_5.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_6", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place another basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place butter (\"butter_1\") in the middle-center of the main table area (\"main_middle_center_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") in the middle-left of the main table area (\"main_middle_left_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-left of the main table area (\"main_middle_left_region\") and place it into the front basket (\"basket_1_contain_region\"). Hold 1s.", |
| "Step 2 — Pick up the butter (\"butter_1\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the back basket (\"basket_2_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(butter_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(butter_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_2_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_6.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_7", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a second basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the back-center of the main table area (\"main_back_center_region\").", |
| "Place another cream_cheese (\"cream_cheese_2\") at the middle-center of the main table area (\"main_middle_center_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 on the middle-left of the main table area (\"main_middle_left_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, main_middle_left_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, main_middle_left_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_7.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_8", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a second basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the back-center of the main table area (\"main_back_center_region\").", |
| "Place another cream_cheese (\"cream_cheese_2\") at the middle-center of the main table area (\"main_middle_center_region\").", |
| "Place ketchup (\"ketchup_1\") at the middle-right of the main table area (\"main_middle_right_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 into the back basket (\"basket_2_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_8.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_9", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place another basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the back-center of the main table area (\"main_back_center_region\").", |
| "Place another cream_cheese (\"cream_cheese_2\") at the middle-center of the main table area (\"main_middle_center_region\").", |
| "Place ketchup (\"ketchup_1\") at the middle-right of the main table area (\"main_middle_right_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the cream_cheese (\"cream_cheese_2\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the back basket (\"basket_2_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(cream_cheese_2, main_middle_center_region)", |
| "PLACE(cream_cheese_2, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(cream_cheese_2, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_2, basket_2_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_9.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_10", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place another basket (\"basket_2\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place the ketchup bottle (\"ketchup_1\") in the middle of the main table area (\"main_middle_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the ketchup bottle (\"ketchup_1\") from the middle of the main table area (\"main_middle_center_region\") and place it into the back basket (\"basket_2_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(ketchup_1, main_middle_center_region)", |
| "PLACE(ketchup_1, basket_2_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(ketchup_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(ketchup_1, basket_2_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_2_contain_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": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_10.bddl" |
| }, |
| { |
| "id": "easy_5_reversing_action_sequences_actions_11", |
| "human_video_instruction": { |
| "setup": [ |
| "Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").", |
| "Place a wooden_tray (\"wooden_tray_1\") on the back fixture area of the table (\"fixture_back_region\").", |
| "Place cream_cheese (\"cream_cheese_1\") at the middle-center of the main table area (\"main_middle_center_region\").", |
| "Place ketchup (\"ketchup_1\") at the back-center of the main table area (\"main_back_center_region\")." |
| ], |
| "steps": [ |
| "Step 1 — Pick up the ketchup (\"ketchup_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\"). Hold 1s.", |
| "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 basket (\"basket_1_contain_region\"). Hold 1s, then stop recording." |
| ] |
| }, |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: undo the actions shown in the video in reverse order, moving each object back in the opposite direction.", |
| "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" |
| ] |
| ], |
| "primitive_action_sequence": [ |
| "PICK(ketchup_1, main_back_center_region)", |
| "PLACE(ketchup_1, wooden_tray_1_contain_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "sub_goals": [ |
| { |
| "after_action": "PICK(ketchup_1, main_back_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(ketchup_1, wooden_tray_1_contain_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PICK(cream_cheese_1, main_middle_center_region)", |
| "states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| { |
| "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "states": [ |
| [ |
| "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" |
| ] |
| ] |
| } |
| ], |
| "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": [ |
| "ketchup_1", |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_back_center_region)", |
| "PLACE(ketchup_1, wooden_tray_1_contain_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_center_region)", |
| "PLACE(ketchup_1, wooden_tray_1_contain_region)", |
| "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" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010478.MP4", |
| "side": "side/GX010488.MP4", |
| "oblique": "oblique/GX010489.MP4" |
| }, |
| "bddl_file": "Reversal/KITCHEN_EASY_5_REVERSING_ACTION_SEQUENCES_EASY_5_REVERSING_ACTION_SEQUENCES_ACTIONS_11.bddl" |
| } |
| ] |
| } |
|
|
