{ "examples": [ { "id": "following_sequences_10", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "wooden_tray_2", "cream_cheese_1", "butter_1", "butter_2", "orange_juice_1", "orange_juice_2", "milk_1", "milk_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_front_right_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "milk_2", "main_front_center_region" ] ], "primitive_action_sequence": [ "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, main_front_left_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_back_right_region)", "PICK(orange_juice_2, main_front_right_region)", "PLACE(orange_juice_2, main_back_center_region)", "PICK(orange_juice_1, main_middle_right_region)", "PLACE(orange_juice_1, main_front_right_region)", "PICK(orange_juice_2, main_back_center_region)", "PLACE(orange_juice_2, main_middle_right_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_front_center_region)", "PLACE(milk_2, main_middle_left_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_2_contain_region)", "PICK(milk_2, main_middle_left_region)", "PLACE(milk_2, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_front_right_region)", "PLACE(orange_juice_1, wooden_tray_2_contain_region)", "PICK(orange_juice_2, main_middle_right_region)", "PLACE(orange_juice_2, wooden_tray_2_contain_region)", "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, main_front_left_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", "cream_cheese_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_front_right_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(milk_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_front_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_front_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_front_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(orange_juice_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(orange_juice_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "orange_juice_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(orange_juice_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_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", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(orange_juice_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(orange_juice_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PLACE(butter_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_front_center_region" ] ] }, { "after_action": "PICK(milk_2, main_front_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ] ] }, { "after_action": "PLACE(milk_2, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "milk_2", "main_middle_left_region" ] ] }, { "after_action": "PICK(milk_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "On", "milk_2", "main_middle_left_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", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "On", "milk_2", "main_middle_left_region" ] ] }, { "after_action": "PICK(milk_2, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ] ] }, { "after_action": "PLACE(milk_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(orange_juice_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(orange_juice_1, wooden_tray_2_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "On", "orange_juice_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(orange_juice_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(orange_juice_2, wooden_tray_2_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(butter_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ], "interest_objects": [ "milk_1", "cream_cheese_1", "orange_juice_2", "orange_juice_1", "butter_2", "butter_1", "milk_2" ], "oracle_plan": [ "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, main_front_left_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_back_right_region)", "PICK(orange_juice_2, main_front_right_region)", "PLACE(orange_juice_2, main_back_center_region)", "PICK(orange_juice_1, main_middle_right_region)", "PLACE(orange_juice_1, main_front_right_region)", "PICK(orange_juice_2, main_back_center_region)", "PLACE(orange_juice_2, main_middle_right_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_front_center_region)", "PLACE(milk_2, main_middle_left_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_2_contain_region)", "PICK(milk_2, main_middle_left_region)", "PLACE(milk_2, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_front_right_region)", "PLACE(orange_juice_1, wooden_tray_2_contain_region)", "PICK(orange_juice_2, main_middle_right_region)", "PLACE(orange_juice_2, wooden_tray_2_contain_region)", "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, main_front_left_region)" ], "oracle_plan_human": [ "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, main_back_right_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_front_left_region)", "PICK(orange_juice_2, main_back_left_region)", "PLACE(orange_juice_2, main_front_center_region)", "PICK(orange_juice_1, main_middle_left_region)", "PLACE(orange_juice_1, main_back_left_region)", "PICK(orange_juice_2, main_front_center_region)", "PLACE(orange_juice_2, main_middle_left_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_back_center_region)", "PLACE(milk_2, main_middle_right_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, wooden_tray_2_contain_region)", "PICK(milk_2, main_middle_right_region)", "PLACE(milk_2, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_back_left_region)", "PLACE(orange_juice_1, wooden_tray_2_contain_region)", "PICK(orange_juice_2, main_middle_left_region)", "PLACE(orange_juice_2, wooden_tray_2_contain_region)", "PICK(butter_2, main_front_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, main_back_right_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_front_left_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "orange_juice_1", "wooden_tray_2_contain_region" ], [ "In", "orange_juice_2", "wooden_tray_2_contain_region" ], [ "In", "milk_1", "wooden_tray_2_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_10.bddl", "video": { "front": "front/GX010065.MP4", "side": "side/GX010048.MP4", "oblique": "oblique/GX010074.MP4" } }, { "id": "following_sequences_16", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "wooden_tray_2", "cream_cheese_1", "cream_cheese_2", "milk_1", "butter_1", "butter_2", "porcelain_mug_1", "porcelain_mug_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_middle_right_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_front_left_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(porcelain_mug_1, main_middle_right_region)", "PLACE(porcelain_mug_1, main_front_left_region)", "PICK(cream_cheese_2, main_back_right_region)", "PLACE(cream_cheese_2, main_back_center_region)", "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, main_middle_right_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_back_left_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_back_right_region)", "PICK(porcelain_mug_2, main_front_right_region)", "PLACE(porcelain_mug_2, main_middle_left_region)", "PICK(cream_cheese_2, main_back_center_region)", "PLACE(cream_cheese_2, main_front_right_region)", "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(cream_cheese_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_middle_right_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_middle_right_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_middle_right_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_middle_right_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PICK(porcelain_mug_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(porcelain_mug_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", 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main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_front_right_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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_front_right_region" ] ] }, { "after_action": "PICK(porcelain_mug_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ] ] }, { "after_action": "PLACE(porcelain_mug_2, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, { "after_action": "PICK(butter_2, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, { "after_action": "PLACE(butter_2, main_front_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, { "after_action": "PICK(milk_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ], "interest_objects": [ "cream_cheese_1", "cream_cheese_2", "porcelain_mug_1", "milk_1", "butter_1", "butter_2", "porcelain_mug_2" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_front_left_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(porcelain_mug_1, main_middle_right_region)", "PLACE(porcelain_mug_1, main_front_left_region)", "PICK(cream_cheese_2, main_back_right_region)", "PLACE(cream_cheese_2, main_back_center_region)", "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, main_middle_right_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_back_left_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_back_right_region)", "PICK(porcelain_mug_2, main_front_right_region)", "PLACE(porcelain_mug_2, main_middle_left_region)", "PICK(cream_cheese_2, main_back_center_region)", "PLACE(cream_cheese_2, main_front_right_region)", "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_back_right_region)", "PLACE(cream_cheese_2, main_front_left_region)", "PICK(porcelain_mug_1, main_middle_left_region)", "PLACE(porcelain_mug_1, main_back_right_region)", "PICK(cream_cheese_2, main_front_left_region)", "PLACE(cream_cheese_2, main_front_center_region)", "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, main_middle_left_region)", "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_front_right_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_front_left_region)", "PICK(porcelain_mug_2, main_back_left_region)", "PLACE(porcelain_mug_2, main_middle_right_region)", "PICK(cream_cheese_2, main_front_center_region)", "PLACE(cream_cheese_2, main_back_left_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_middle_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "porcelain_mug_1", "main_front_left_region" ], [ "On", "porcelain_mug_2", "main_middle_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_16.bddl", "video": { "front": "front/GX010072.MP4", "side": "side/GX010055.MP4", "oblique": "oblique/GX010081.MP4" } }, { "id": "following_sequences_19", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_cabinet_1", "wooden_tray_1", "cream_cheese_1", "cream_cheese_2", "milk_1", "butter_1", "porcelain_mug_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ], "primitive_action_sequence": [ "PICK(porcelain_mug_1, main_back_right_region)", "PLACE(porcelain_mug_1, main_front_right_region)", "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_middle_right_region)", "PICK(cream_cheese_2, main_front_center_region)", "PLACE(cream_cheese_2, main_middle_left_region)", "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, main_front_center_region)", "PICK(milk_1, main_back_center_region)", "PLACE(milk_1, main_front_left_region)", "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(cream_cheese_2, main_back_right_region)", "PLACE(cream_cheese_2, main_back_center_region)", "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, main_back_left_region)", "PICK(porcelain_mug_1, main_front_right_region)", "PLACE(porcelain_mug_1, main_back_right_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, main_middle_center_region)" ], "sub_goals": [ { "after_action": "PICK(porcelain_mug_1, main_back_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(porcelain_mug_1, main_front_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_middle_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_front_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_middle_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_left_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_front_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_front_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(milk_1, main_back_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(milk_1, main_front_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_middle_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_back_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(porcelain_mug_1, main_front_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ] ] }, { "after_action": "PLACE(porcelain_mug_1, main_back_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ] }, { "after_action": "PICK(milk_1, main_front_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(milk_1, main_middle_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ] } ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ], "interest_objects": [ "porcelain_mug_1", "butter_1", "cream_cheese_2", "cream_cheese_1", "milk_1" ], "oracle_plan": [ "PICK(porcelain_mug_1, main_back_right_region)", "PLACE(porcelain_mug_1, main_front_right_region)", "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_middle_right_region)", "PICK(cream_cheese_2, main_front_center_region)", "PLACE(cream_cheese_2, main_middle_left_region)", "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, main_front_center_region)", "PICK(milk_1, main_back_center_region)", "PLACE(milk_1, main_front_left_region)", "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(cream_cheese_2, main_back_right_region)", "PLACE(cream_cheese_2, main_back_center_region)", "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, main_back_left_region)", "PICK(porcelain_mug_1, main_front_right_region)", "PLACE(porcelain_mug_1, main_back_right_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(porcelain_mug_1, main_front_left_region)", "PLACE(porcelain_mug_1, main_back_left_region)", "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, main_middle_left_region)", "PICK(cream_cheese_2, main_back_center_region)", "PLACE(cream_cheese_2, main_middle_right_region)", "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, main_back_center_region)", "PICK(milk_1, main_front_center_region)", "PLACE(milk_1, main_back_right_region)", "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, main_front_left_region)", "PICK(cream_cheese_2, main_front_left_region)", "PLACE(cream_cheese_2, main_front_center_region)", "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_front_right_region)", "PICK(porcelain_mug_1, main_back_left_region)", "PLACE(porcelain_mug_1, main_front_left_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, main_middle_center_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_back_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_19.bddl", "video": { "front": "front/GX010077.MP4", "side": "side/GX010060.MP4", "oblique": "oblique/GX010086.MP4" } }, { "id": "following_sequences_20", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_cabinet_1", "wooden_tray_1", "cream_cheese_1", "cream_cheese_2", "milk_1", "butter_1", "butter_2", "porcelain_mug_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_middle_left_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_right_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_front_center_region)", "PLACE(cream_cheese_2, main_back_left_region)", "PICK(porcelain_mug_1, main_front_right_region)", "PLACE(porcelain_mug_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, main_back_right_region)" ], "sub_goals": [ { "after_action": "PICK(butter_2, main_middle_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_2, main_middle_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_middle_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_middle_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(milk_1, main_front_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(milk_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_front_center_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_front_center_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "porcelain_mug_1", "main_front_right_region" ] ] }, { "after_action": "PICK(porcelain_mug_1, main_front_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ] ] }, { "after_action": "PLACE(porcelain_mug_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "In", "porcelain_mug_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_back_left_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "In", "porcelain_mug_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_right_region)", "states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "In", "porcelain_mug_1", "wooden_tray_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "In", "porcelain_mug_1", "wooden_tray_1_contain_region" ] ], "interest_objects": [ "butter_2", "cream_cheese_1", "butter_1", "milk_1", "cream_cheese_2", "porcelain_mug_1" ], "oracle_plan": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_middle_left_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_right_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_front_center_region)", "PLACE(cream_cheese_2, main_back_left_region)", "PICK(porcelain_mug_1, main_front_right_region)", "PLACE(porcelain_mug_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, main_back_right_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_middle_right_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_back_center_region)", "PLACE(cream_cheese_2, main_front_right_region)", "PICK(porcelain_mug_1, main_back_left_region)", "PLACE(porcelain_mug_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "In", "porcelain_mug_1", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_20.bddl", "video": { "front": "front/GX010079.MP4", "side": "side/GX010062.MP4", "oblique": "oblique/GX010088.MP4" } }, { "id": "following_sequences_21", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "milk_1", "milk_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "milk_2", "main_front_left_region" ] ], "primitive_action_sequence": [ "PICK(milk_2, main_front_left_region)", "PLACE(milk_2, main_middle_right_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_middle_right_region)", "PLACE(milk_2, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(milk_2, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(milk_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "milk_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(milk_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(milk_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "milk_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(milk_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(milk_2, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "In", "milk_2", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "In", "milk_2", "basket_1_contain_region" ] ], "interest_objects": [ "milk_2", "milk_1" ], "oracle_plan": [ "PICK(milk_2, main_front_left_region)", "PLACE(milk_2, main_middle_right_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_middle_right_region)", "PLACE(milk_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(milk_2, main_back_right_region)", "PLACE(milk_2, main_middle_left_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(milk_2, main_middle_left_region)", "PLACE(milk_2, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "In", "milk_2", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_21.bddl", "video": { "front": "front/GX010196.MP4", "side": "side/GX010178.MP4", "oblique": "oblique/GX010206.MP4" } }, { "id": "following_sequences_23", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "orange_juice_1", "ketchup_1" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_left_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": [ "PICK(orange_juice_1, main_back_left_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_back_right_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_left_region)", "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(orange_juice_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(orange_juice_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(ketchup_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ] }, { "after_action": "PICK(orange_juice_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(orange_juice_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_front_left_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ] }, { "after_action": "PICK(ketchup_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_front_left_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_front_left_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_front_left_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ], "interest_objects": [ "orange_juice_1", "ketchup_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_back_left_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_back_right_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_left_region)", "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_front_right_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_front_left_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_right_region)", "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_front_left_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_23.bddl", "video": { "front": "front/GX010198.MP4", "side": "side/GX010180.MP4", "oblique": "oblique/GX010208.MP4" } }, { "id": "following_sequences_24", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "orange_juice_1", "ketchup_1", "milk_1" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ], [ "On", "milk_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, main_back_left_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_center_region)", "PICK(milk_1, main_back_left_region)", "PLACE(milk_1, main_middle_center_region)", "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_back_center_region)", "PLACE(orange_juice_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(milk_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ] ] }, { "after_action": "PLACE(milk_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ], [ "On", "milk_1", "main_back_left_region" ] ] }, { "after_action": "PICK(orange_juice_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_left_region" ], [ "On", "milk_1", "main_back_left_region" ] ] }, { "after_action": "PLACE(orange_juice_1, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ], [ "On", "milk_1", "main_back_left_region" ] ] }, { "after_action": "PICK(milk_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ] ] }, { "after_action": "PLACE(milk_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_front_left_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(ketchup_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(orange_juice_1, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(orange_juice_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "orange_juice_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "orange_juice_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ] ], "interest_objects": [ "milk_1", "orange_juice_1", "ketchup_1" ], "oracle_plan": [ "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, main_back_left_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_center_region)", "PICK(milk_1, main_back_left_region)", "PLACE(milk_1, main_middle_center_region)", "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_back_center_region)", "PLACE(orange_juice_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(milk_1, main_middle_left_region)", "PLACE(milk_1, main_front_right_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_center_region)", "PICK(milk_1, main_front_right_region)", "PLACE(milk_1, main_middle_center_region)", "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)", "PICK(orange_juice_1, main_front_center_region)", "PLACE(orange_juice_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "orange_juice_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_24.bddl", "video": { "front": "front/GX010199.MP4", "side": "side/GX010181.MP4", "oblique": "oblique/GX010209.MP4" } }, { "id": "following_sequences_27", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "milk_1", "milk_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "On", "milk_2", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(milk_2, main_middle_right_region)", "PLACE(milk_2, wooden_tray_1_contain_region)", "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(milk_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(milk_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(milk_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(milk_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ], "interest_objects": [ "milk_2", "milk_1" ], "oracle_plan": [ "PICK(milk_2, main_middle_right_region)", "PLACE(milk_2, wooden_tray_1_contain_region)", "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(milk_2, main_middle_left_region)", "PLACE(milk_2, wooden_tray_1_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", "milk_2", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_27.bddl", "video": { "front": "front/GX010202.MP4", "side": "side/GX010184.MP4", "oblique": "oblique/GX010212.MP4" } }, { "id": "following_sequences_28", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "milk_1", "milk_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "milk_2", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, basket_1_contain_region)", "PICK(milk_2, main_front_right_region)", "PLACE(milk_2, 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", "basket_1", "fixture_front_region" ], [ "On", "milk_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(milk_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "On", "milk_2", "main_front_right_region" ] ] }, { "after_action": "PICK(milk_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(milk_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ], "interest_objects": [ "milk_1", "milk_2" ], "oracle_plan": [ "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, basket_1_contain_region)", "PICK(milk_2, main_front_right_region)", "PLACE(milk_2, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, basket_1_contain_region)", "PICK(milk_2, main_back_left_region)", "PLACE(milk_2, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "milk_1", "basket_1_contain_region" ], [ "In", "milk_2", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_28.bddl", "video": { "front": "front/GX010203.MP4", "side": "side/GX010185.MP4", "oblique": "oblique/GX010213.MP4" } }, { "id": "following_sequences_30", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "cream_cheese_1", "butter_1", "butter_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, main_middle_right_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_front_right_region)", "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "butter_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "butter_1", "main_front_right_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_front_right_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_front_right_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_front_right_region" ], [ "On", "butter_2", "main_middle_right_region" ] ], "interest_objects": [ "butter_2", "butter_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, main_middle_right_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_front_right_region)", "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, main_middle_left_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_back_left_region)", "PICK(cream_cheese_1, main_front_right_region)", "PLACE(cream_cheese_1, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_front_right_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_30.bddl", "video": { "front": "front/GX010205.MP4", "side": "side/GX010187.MP4", "oblique": "oblique/GX010216.MP4" } }, { "id": "following_sequences_31", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "cream_cheese_1", "butter_1", "butter_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_2, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(butter_2, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ] ], "interest_objects": [ "butter_1", "butter_2" ], "oracle_plan": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_31.bddl", "video": { "front": "front/GX010206.MP4", "side": "side/GX010188.MP4", "oblique": "oblique/GX010217.MP4" } }, { "id": "following_sequences_32", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "butter_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, wooden_tray_1_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_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(butter_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ] ], "interest_objects": [ "butter_2", "butter_1" ], "oracle_plan": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, wooden_tray_1_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", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_32.bddl", "video": { "front": "front/GX010207.MP4", "side": "side/GX010189.MP4", "oblique": "oblique/GX010218.MP4" } }, { "id": "following_sequences_33", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "cream_cheese_1", "cream_cheese_2" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_2" ], "oracle_plan": [ "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_33.bddl", "video": { "front": "front/GX010208.MP4", "side": "side/GX010190.MP4", "oblique": "oblique/GX010219.MP4" } }, { "id": "following_sequences_34", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "cream_cheese_1", "milk_1", "orange_juice_1" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_right_region)", "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(orange_juice_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "milk_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(orange_juice_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] }, { "after_action": "PICK(milk_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(milk_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] }, { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(butter_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ], "interest_objects": [ "orange_juice_1", "milk_1", "butter_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_right_region)", "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_left_region)", "PICK(milk_1, main_middle_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "orange_juice_1", "main_back_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_34.bddl", "video": { "front": "front/GX010209.MP4", "side": "side/GX010191.MP4", "oblique": "oblique/GX010220.MP4" } }, { "id": "following_sequences_35", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "wooden_tray_2", "new_salad_dressing_1", "bbq_sauce_1" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "bbq_sauce_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", "PICK(bbq_sauce_1, main_middle_right_region)", "PLACE(bbq_sauce_1, wooden_tray_2_contain_region)" ], "sub_goals": [ { "after_action": "PICK(new_salad_dressing_1, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "bbq_sauce_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "new_salad_dressing_1", "wooden_tray_1_contain_region" ], [ "On", "bbq_sauce_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(bbq_sauce_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "new_salad_dressing_1", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(bbq_sauce_1, wooden_tray_2_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "new_salad_dressing_1", "wooden_tray_1_contain_region" ], [ "In", "bbq_sauce_1", "wooden_tray_2_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "In", "new_salad_dressing_1", "wooden_tray_1_contain_region" ], [ "In", "bbq_sauce_1", "wooden_tray_2_contain_region" ] ], "interest_objects": [ "new_salad_dressing_1", "bbq_sauce_1" ], "oracle_plan": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", "PICK(bbq_sauce_1, main_middle_right_region)", "PLACE(bbq_sauce_1, wooden_tray_2_contain_region)" ], "oracle_plan_human": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", "PICK(bbq_sauce_1, main_middle_left_region)", "PLACE(bbq_sauce_1, wooden_tray_2_contain_region)" ], "interest_objects_final_states": [ [ "In", "new_salad_dressing_1", "wooden_tray_1_contain_region" ], [ "In", "bbq_sauce_1", "wooden_tray_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_35.bddl", "video": { "front": "front/GX010210.MP4", "side": "side/GX010192.MP4", "oblique": "oblique/GX010221.MP4" } }, { "id": "following_sequences_36", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "wooden_tray_2", "butter_1", "butter_2", "butter_3" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_front_left_region)", "PICK(butter_3, main_middle_right_region)", "PLACE(butter_3, main_back_left_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_front_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_middle_right_region" ] ] }, { "after_action": "PICK(butter_3, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_2", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_3, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_back_left_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_3", "main_back_left_region" ] ] }, { "after_action": "PLACE(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_back_left_region" ] ] }, { "after_action": "PICK(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "On", "butter_3", "main_back_left_region" ] ] }, { "after_action": "PLACE(butter_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_back_left_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "wooden_tray_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_left_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_back_left_region" ] ], "interest_objects": [ "butter_1", "butter_3", "butter_2" ], "oracle_plan": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_front_left_region)", "PICK(butter_3, main_middle_right_region)", "PLACE(butter_3, main_back_left_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, main_back_right_region)", "PICK(butter_3, main_middle_left_region)", "PLACE(butter_3, main_front_right_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_2, main_front_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_front_left_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_back_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_36.bddl", "video": { "front": "front/GX010211.MP4", "side": "side/GX010193.MP4", "oblique": "oblique/GX010222.MP4" } }, { "id": "following_sequences_37", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "butter_2", "butter_3", "new_salad_dressing_1" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_back_left_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_3, main_front_right_region)", "PLACE(butter_3, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_right_region)", "PLACE(new_salad_dressing_1, main_middle_left_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(butter_3, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(butter_3, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(new_salad_dressing_1, main_middle_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_middle_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ] ], "interest_objects": [ "butter_1", "butter_2", "butter_3", "new_salad_dressing_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_back_left_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_3, main_front_right_region)", "PLACE(butter_3, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_right_region)", "PLACE(new_salad_dressing_1, main_middle_left_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, main_front_right_region)", "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_3, main_back_left_region)", "PLACE(butter_3, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_left_region)", "PLACE(new_salad_dressing_1, main_middle_right_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_37.bddl", "video": { "front": "front/GX010260.MP4", "side": "side/GX010242.MP4", "oblique": "oblique/GX010271.MP4" } }, { "id": "following_sequences_38", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "butter_2", "butter_3" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "butter_3", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_3, main_middle_center_region)", "PLACE(butter_3, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_2, main_back_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_3", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_2, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_middle_center_region" ] ] }, { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_1, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "On", "butter_3", "main_middle_center_region" ] ] }, { "after_action": "PICK(butter_3, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ] ] }, { "after_action": "PLACE(butter_3, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ], "interest_objects": [ "butter_2", "butter_1", "butter_3" ], "oracle_plan": [ "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_3, main_middle_center_region)", "PLACE(butter_3, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_front_center_region)", "PLACE(butter_2, wooden_tray_1_contain_region)", "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_3, main_middle_center_region)", "PLACE(butter_3, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "wooden_tray_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_38.bddl", "video": { "front": "front/GX010261.MP4", "side": "side/GX010243.MP4", "oblique": "oblique/GX010272.MP4" } }, { "id": "following_sequences_39", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "wooden_tray_1", "basket_1", "butter_1", "butter_2", "butter_3" ], "initial_states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "butter_3", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_3, main_front_right_region)", "PLACE(butter_3, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_2, main_middle_center_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_3", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_2, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "butter_3", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_1, main_back_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "butter_3", "main_front_right_region" ] ] }, { "after_action": "PLACE(butter_1, wooden_tray_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "butter_3", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_3, main_front_right_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(butter_3, basket_1_contain_region)", "states": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "wooden_tray_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ], "interest_objects": [ "butter_2", "butter_1", "butter_3" ], "oracle_plan": [ "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_3, main_front_right_region)", "PLACE(butter_3, basket_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_left_region)", "PLACE(butter_1, wooden_tray_1_contain_region)", "PICK(butter_3, main_back_left_region)", "PLACE(butter_3, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "wooden_tray_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "butter_3", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_39.bddl", "video": { "front": "front/GX010262.MP4", "side": "side/GX010244.MP4", "oblique": "oblique/GX010273.MP4" } }, { "id": "following_sequences_40", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "butter_3", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "On", "cream_cheese_1", "main_back_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_middle_left_region" ], [ "On", "butter_3", "main_front_right_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", "basket_2", "fixture_front_region" ], [ "In", "butter_1", "basket_2_contain_region" ], [ "On", "butter_2", "main_middle_left_region" ], [ "On", "butter_3", "main_front_right_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_middle_left_region" ], [ "On", "butter_3", "main_front_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_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_right_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_right_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_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1", "butter_2" ], "oracle_plan": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, basket_1_contain_region)", "PICK(butter_2, main_middle_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": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_40.bddl", "video": { "front": "front/GX010263.MP4", "side": "side/GX010245.MP4", "oblique": "oblique/GX010274.MP4" } }, { "id": "following_sequences_41", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "tomato_sauce_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_back_left_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" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_middle_center_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_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_middle_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_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", "butter_1", "basket_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(tomato_sauce_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" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "tomato_sauce_1", "basket_1_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_1_contain_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1", "tomato_sauce_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_front_right_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_41.bddl", "video": { "front": "front/GX010264.MP4", "side": "side/GX010246.MP4", "oblique": "oblique/GX010275.MP4" } }, { "id": "following_sequences_42", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "tomato_sauce_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "tomato_sauce_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(tomato_sauce_1, main_back_right_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(tomato_sauce_1, main_back_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "On", "cream_cheese_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", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "tomato_sauce_1", "basket_1_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" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "tomato_sauce_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" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_front_right_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, { "after_action": "PICK(butter_2, main_front_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(butter_2, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ], "interest_objects": [ "tomato_sauce_1", "cream_cheese_1", "butter_2" ], "oracle_plan": [ "PICK(tomato_sauce_1, main_back_right_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(tomato_sauce_1, main_front_left_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_42.bddl", "video": { "front": "front/GX010265.MP4", "side": "side/GX010247.MP4", "oblique": "oblique/GX010276.MP4" } }, { "id": "following_sequences_43", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2" ], "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_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_2, main_middle_right_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_middle_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", "butter_1", "basket_1_contain_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "butter_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_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_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_1_contain_region" ] ], "interest_objects": [ "butter_1", "butter_2" ], "oracle_plan": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "butter_2", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_43.bddl", "video": { "front": "front/GX010266.MP4", "side": "side/GX010248.MP4", "oblique": "oblique/GX010277.MP4" } }, { "id": "following_sequences_44", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2" ], "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_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(butter_2, main_front_center_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_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_front_center_region" ] ] }, { "after_action": "PICK(butter_2, main_front_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(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" ] ] } ], "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" ] ], "interest_objects": [ "butter_1", "butter_2" ], "oracle_plan": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(butter_2, main_front_center_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(butter_2, main_back_center_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" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_44.bddl", "video": { "front": "front/GX010267.MP4", "side": "side/GX010249.MP4", "oblique": "oblique/GX010278.MP4" } }, { "id": "following_sequences_45", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, basket_2_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_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_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" ], [ "On", "butter_2", "main_middle_right_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", "basket_2", "fixture_front_region" ], [ "In", "butter_1", "basket_1_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_1_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_1_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_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_45.bddl", "video": { "front": "front/GX010268.MP4", "side": "side/GX010250.MP4", "oblique": "oblique/GX010279.MP4" } }, { "id": "following_sequences_46", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_back_left_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, main_back_right_region)", "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, main_middle_right_region)" ], "sub_goals": [ { "after_action": "PICK(butter_2, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(butter_2, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_left_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" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_left_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_back_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ] }, { "after_action": "PICK(butter_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_2", "main_back_left_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", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ], "interest_objects": [ "butter_2", "cream_cheese_1", "butter_1" ], "oracle_plan": [ "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_back_left_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, main_back_right_region)", "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, main_middle_right_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_front_right_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, main_front_left_region)", "PICK(butter_1, main_front_center_region)", "PLACE(butter_1, main_middle_left_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_46.bddl", "video": { "front": "front/GX010269.MP4", "side": "side/GX010251.MP4", "oblique": "oblique/GX010280.MP4" } }, { "id": "following_sequences_47", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_front_center_region)", "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_middle_center_region)" ], "sub_goals": [ { "after_action": "PICK(cream_cheese_1, main_back_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(butter_1, main_back_left_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_left_region" ] ] }, { "after_action": "PLACE(butter_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_center_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(butter_2, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(butter_2, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_front_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ], "interest_objects": [ "cream_cheese_1", "butter_1", "butter_2" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_front_center_region)", "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, main_middle_right_region)", "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, main_back_center_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_middle_center_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_front_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_47.bddl", "video": { "front": "front/GX010270.MP4", "side": "side/GX010252.MP4", "oblique": "oblique/GX010281.MP4" } }, { "id": "following_sequences_48", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "butter_2", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_front_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_2, main_front_center_region)", "PLACE(butter_2, main_back_center_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_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(butter_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_front_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "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_back_left_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(butter_2, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "butter_1", "butter_2", "cream_cheese_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_back_left_region)", "PICK(butter_2, main_front_center_region)", "PLACE(butter_2, main_back_center_region)", "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_front_right_region)", "PICK(butter_2, main_back_center_region)", "PLACE(butter_2, main_front_center_region)", "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_back_left_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_48.bddl", "video": { "front": "front/GX010271.MP4", "side": "side/GX010253.MP4", "oblique": "oblique/GX010282.MP4" } }, { "id": "following_sequences_49", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "ketchup_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_left_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_front_right_region)", "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, basket_1_contain_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ] }, { "after_action": "PLACE(butter_1, 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", "ketchup_1", "main_middle_right_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", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_front_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_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" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "butter_1", "basket_2_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1", "ketchup_1" ], "oracle_plan": [ "PICK(butter_1, main_back_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_front_right_region)", "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, basket_1_contain_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_back_left_region)", "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_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", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_49.bddl", "video": { "front": "front/GX010272.MP4", "side": "side/GX010254.MP4", "oblique": "oblique/GX010283.MP4" } }, { "id": "following_sequences_50", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "cream_cheese_2", "alphabet_soup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, main_back_left_region)", "PICK(alphabet_soup_1, main_back_left_region)", "PLACE(alphabet_soup_1, main_back_center_region)", "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, main_middle_left_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_left_region" ] ] }, { "after_action": "PICK(alphabet_soup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_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", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_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", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "alphabet_soup_1", "main_back_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" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "alphabet_soup_1", "main_back_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" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ], "interest_objects": [ "alphabet_soup_1", "cream_cheese_1", "cream_cheese_2" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, main_back_left_region)", "PICK(alphabet_soup_1, main_back_left_region)", "PLACE(alphabet_soup_1, main_back_center_region)", "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, main_middle_left_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, main_front_right_region)", "PICK(alphabet_soup_1, main_front_right_region)", "PLACE(alphabet_soup_1, main_front_center_region)", "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, main_middle_right_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" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_50.bddl", "video": { "front": "front/GX010273.MP4", "side": "side/GX010255.MP4", "oblique": "oblique/GX010284.MP4" } }, { "id": "following_sequences_51", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "cream_cheese_2", "alphabet_soup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ], "primitive_action_sequence": [ "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, basket_1_contain_region)", "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, basket_1_contain_region)", "PICK(alphabet_soup_1, main_back_center_region)", "PLACE(alphabet_soup_1, main_middle_left_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_center_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_front_center_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "cream_cheese_2", "main_front_right_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_front_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "alphabet_soup_1", "main_back_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" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_back_center_region" ] ] }, { "after_action": "PICK(alphabet_soup_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_middle_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" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ], "interest_objects": [ "ketchup_1", "cream_cheese_2", "alphabet_soup_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, basket_1_contain_region)", "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, basket_1_contain_region)", "PICK(alphabet_soup_1, main_back_center_region)", "PLACE(alphabet_soup_1, main_middle_left_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, basket_1_contain_region)", "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, basket_1_contain_region)", "PICK(alphabet_soup_1, main_front_center_region)", "PLACE(alphabet_soup_1, main_middle_right_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_center_region)" ], "interest_objects_final_states": [ [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_51.bddl", "video": { "front": "front/GX010274.MP4", "side": "side/GX010256.MP4", "oblique": "oblique/GX010285.MP4" } }, { "id": "following_sequences_52", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "cream_cheese_2", "alphabet_soup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_middle_center_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_front_center_region)", "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, main_back_left_region)" ], "sub_goals": [ { "after_action": "PICK(cream_cheese_2, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_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", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_2_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(ketchup_1, 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" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(alphabet_soup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_back_left_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_back_left_region" ] ], "interest_objects": [ "cream_cheese_2", "cream_cheese_1", "ketchup_1", "alphabet_soup_1" ], "oracle_plan": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_back_right_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_front_center_region)", "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, main_back_left_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_front_left_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_center_region)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)", "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_center_region)", "PICK(alphabet_soup_1, main_middle_right_region)", "PLACE(alphabet_soup_1, main_front_right_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "cream_cheese_2", "main_back_right_region" ], [ "On", "alphabet_soup_1", "main_back_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_52.bddl", "video": { "front": "front/GX010275.MP4", "side": "side/GX010257.MP4", "oblique": "oblique/GX010286.MP4" } }, { "id": "following_sequences_53", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "tomato_sauce_1", "new_salad_dressing_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_back_center_region" ] ], "primitive_action_sequence": [ "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, main_middle_right_region)", "PICK(new_salad_dressing_1, main_back_center_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(ketchup_1, main_front_center_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "sub_goals": [ { "after_action": "PICK(tomato_sauce_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "new_salad_dressing_1", "main_back_center_region" ] ] }, { "after_action": "PLACE(tomato_sauce_1, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_back_center_region" ] ] }, { "after_action": "PICK(new_salad_dressing_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_front_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(ketchup_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ], "interest_objects": [ "tomato_sauce_1", "new_salad_dressing_1", "ketchup_1" ], "oracle_plan": [ "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, main_middle_right_region)", "PICK(new_salad_dressing_1, main_back_center_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(ketchup_1, main_front_center_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "oracle_plan_human": [ "PICK(tomato_sauce_1, main_middle_center_region)", "PLACE(tomato_sauce_1, main_middle_left_region)", "PICK(new_salad_dressing_1, main_front_center_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(ketchup_1, main_back_center_region)", "PLACE(ketchup_1, main_middle_right_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_middle_left_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_53.bddl", "video": { "front": "front/GX010276.MP4", "side": "side/GX010258.MP4", "oblique": "oblique/GX010287.MP4" } }, { "id": "following_sequences_54", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "tomato_sauce_1", "new_salad_dressing_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_left_region)", "PICK(tomato_sauce_1, main_middle_right_region)", "PLACE(tomato_sauce_1, main_front_right_region)", "PICK(tomato_sauce_1, main_front_right_region)", "PLACE(tomato_sauce_1, main_front_center_region)", "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "sub_goals": [ { "after_action": "PICK(ketchup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_middle_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(tomato_sauce_1, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(tomato_sauce_1, main_front_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_right_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(tomato_sauce_1, main_front_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(tomato_sauce_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(ketchup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ], "interest_objects": [ "ketchup_1", "tomato_sauce_1" ], "oracle_plan": [ "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_left_region)", "PICK(tomato_sauce_1, main_middle_right_region)", "PLACE(tomato_sauce_1, main_front_right_region)", "PICK(tomato_sauce_1, main_front_right_region)", "PLACE(tomato_sauce_1, main_front_center_region)", "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_front_right_region)", "PICK(tomato_sauce_1, main_middle_left_region)", "PLACE(tomato_sauce_1, main_back_left_region)", "PICK(tomato_sauce_1, main_back_left_region)", "PLACE(tomato_sauce_1, main_back_center_region)", "PICK(ketchup_1, main_front_right_region)", "PLACE(ketchup_1, main_middle_right_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_middle_left_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_54.bddl", "video": { "front": "front/GX010277.MP4", "side": "side/GX010259.MP4", "oblique": "oblique/GX010288.MP4" } }, { "id": "following_sequences_55", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "tomato_sauce_1", "new_salad_dressing_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_right_region)", "PICK(tomato_sauce_1, main_front_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_center_region)" ], "sub_goals": [ { "after_action": "PICK(new_salad_dressing_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "tomato_sauce_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(tomato_sauce_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_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", "ketchup_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ], "interest_objects": [ "new_salad_dressing_1", "tomato_sauce_1", "ketchup_1" ], "oracle_plan": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_right_region)", "PICK(tomato_sauce_1, main_front_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_center_region)" ], "oracle_plan_human": [ "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_left_region)", "PICK(tomato_sauce_1, main_back_center_region)", "PLACE(tomato_sauce_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_front_center_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_55.bddl", "video": { "front": "front/GX010278.MP4", "side": "side/GX010260.MP4", "oblique": "oblique/GX010289.MP4" } }, { "id": "following_sequences_56", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "tomato_sauce_1", "new_salad_dressing_1", "new_salad_dressing_2" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "new_salad_dressing_2", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(ketchup_1, main_back_center_region)", "PLACE(ketchup_1, main_back_left_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_left_region)", "PICK(new_salad_dressing_2, main_middle_right_region)", "PLACE(new_salad_dressing_2, main_middle_center_region)", "PICK(new_salad_dressing_2, main_middle_center_region)", "PLACE(new_salad_dressing_2, basket_2_contain_region)" ], "sub_goals": [ { "after_action": "PICK(ketchup_1, 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" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "new_salad_dressing_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "new_salad_dressing_2", "main_middle_right_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" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_2", "main_middle_right_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "On", "new_salad_dressing_2", "main_middle_right_region" ] ] }, { "after_action": "PICK(new_salad_dressing_2, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_2, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "On", "new_salad_dressing_2", "main_middle_center_region" ] ] }, { "after_action": "PICK(new_salad_dressing_2, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_2, basket_2_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ], "interest_objects": [ "ketchup_1", "new_salad_dressing_1", "new_salad_dressing_2" ], "oracle_plan": [ "PICK(ketchup_1, main_back_center_region)", "PLACE(ketchup_1, main_back_left_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_left_region)", "PICK(new_salad_dressing_2, main_middle_right_region)", "PLACE(new_salad_dressing_2, main_middle_center_region)", "PICK(new_salad_dressing_2, main_middle_center_region)", "PLACE(new_salad_dressing_2, basket_2_contain_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_front_center_region)", "PLACE(ketchup_1, main_front_right_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_middle_right_region)", "PICK(new_salad_dressing_2, main_middle_left_region)", "PLACE(new_salad_dressing_2, main_middle_center_region)", "PICK(new_salad_dressing_2, main_middle_center_region)", "PLACE(new_salad_dressing_2, basket_2_contain_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_back_left_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_56.bddl", "video": { "front": "front/GX010279.MP4", "side": "side/GX010261.MP4", "oblique": "oblique/GX010290.MP4" } }, { "id": "following_sequences_57", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "ketchup_1", "cream_cheese_1", "tomato_sauce_1", "new_salad_dressing_1", "new_salad_dressing_2" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_left_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ], "primitive_action_sequence": [ "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, main_middle_center_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, main_back_center_region)", "PICK(new_salad_dressing_1, main_middle_left_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_back_right_region)" ], "sub_goals": [ { "after_action": "PICK(ketchup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(ketchup_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_left_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PICK(new_salad_dressing_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PICK(new_salad_dressing_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] }, { "after_action": "PLACE(new_salad_dressing_1, main_back_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_back_right_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "ketchup_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_back_right_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ], [ "In", "tomato_sauce_1", "basket_1_contain_region" ], [ "In", "new_salad_dressing_2", "basket_2_contain_region" ] ], "interest_objects": [ "ketchup_1", "new_salad_dressing_1" ], "oracle_plan": [ "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, main_middle_center_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, main_back_center_region)", "PICK(new_salad_dressing_1, main_middle_left_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_back_right_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_front_right_region)", "PLACE(ketchup_1, main_middle_center_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, main_front_center_region)", "PICK(new_salad_dressing_1, main_middle_right_region)", "PLACE(new_salad_dressing_1, main_middle_center_region)", "PICK(new_salad_dressing_1, main_middle_center_region)", "PLACE(new_salad_dressing_1, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_back_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_57.bddl", "video": { "front": "front/GX010280.MP4", "side": "side/GX010262.MP4", "oblique": "oblique/GX010291.MP4" } }, { "id": "following_sequences_59", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "cream_cheese_1", "cream_cheese_2", "cream_cheese_3", "cream_cheese_4" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_middle_center_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_back_left_region)", "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, main_middle_left_region)", "PICK(cream_cheese_3, main_middle_right_region)", "PLACE(cream_cheese_3, main_back_center_region)" ], "sub_goals": [ { "after_action": "PICK(cream_cheese_2, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_back_left_region)", "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_left_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "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_left_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_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", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_back_left_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_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", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(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_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "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_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_3, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_back_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_back_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ], "interest_objects": [ "cream_cheese_2", "cream_cheese_1", "cream_cheese_3" ], "oracle_plan": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_back_left_region)", "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, main_middle_left_region)", "PICK(cream_cheese_3, main_middle_right_region)", "PLACE(cream_cheese_3, main_back_center_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_2, main_middle_center_region)", "PLACE(cream_cheese_2, main_front_right_region)", "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, main_middle_right_region)", "PICK(cream_cheese_3, main_middle_left_region)", "PLACE(cream_cheese_3, main_front_center_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_back_center_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_59.bddl", "video": { "front": "front/GX010282.MP4", "side": "side/GX010264.MP4", "oblique": "oblique/GX010293.MP4" } }, { "id": "following_sequences_60", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "cream_cheese_1", "cream_cheese_2", "cream_cheese_3", "cream_cheese_4" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "cream_cheese_2", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_middle_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, main_middle_right_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(cream_cheese_3, main_middle_center_region)", "PLACE(cream_cheese_3, main_back_left_region)", "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, main_front_left_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_center_region" ], [ "On", "cream_cheese_3", "main_middle_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_middle_right_region)", "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" ], [ "On", "cream_cheese_3", "main_middle_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "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" ], [ "On", "cream_cheese_3", "main_middle_center_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ], [ "On", "cream_cheese_3", "main_middle_center_region" ], [ "In", "cream_cheese_4", "basket_1_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_middle_left_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_3, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_middle_right_region" ], [ "On", "cream_cheese_3", "main_back_left_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PICK(cream_cheese_2, main_middle_right_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_3", "main_back_left_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, main_front_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "cream_cheese_3", "main_back_left_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "cream_cheese_3", "main_back_left_region" ], [ "In", "cream_cheese_4", "basket_1_contain_region" ] ], "interest_objects": [ "cream_cheese_2", "cream_cheese_1", "cream_cheese_3" ], "oracle_plan": [ "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, main_middle_right_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(cream_cheese_3, main_middle_center_region)", "PLACE(cream_cheese_3, main_back_left_region)", "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, main_front_left_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_2, main_middle_right_region)", "PLACE(cream_cheese_2, main_middle_left_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_right_region)", "PICK(cream_cheese_3, main_middle_center_region)", "PLACE(cream_cheese_3, main_front_right_region)", "PICK(cream_cheese_2, main_middle_left_region)", "PLACE(cream_cheese_2, main_back_right_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "cream_cheese_2", "main_front_left_region" ], [ "On", "cream_cheese_3", "main_back_left_region" ] ] }, "bddl_file": "Imitation/KITCHEN_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCES_60.bddl", "video": { "front": "front/GX010283.MP4", "side": "side/GX010265.MP4", "oblique": "oblique/GX010294.MP4" } }, { "id": "following_sequence_example_61", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_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(alphabet_soup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "alphabet_soup_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_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(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_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", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_61.bddl", "video": { "front": "front/GX010389.MP4", "side": "side/GX010399.MP4", "oblique": "oblique/GX010400.MP4" } }, { "id": "following_sequence_example_62", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_front_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_front_center_region)", "PLACE(alphabet_soup_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(alphabet_soup_1, main_front_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "alphabet_soup_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_front_center_region)", "PLACE(alphabet_soup_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(alphabet_soup_1, main_back_center_region)", "PLACE(alphabet_soup_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", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_62.bddl", "video": { "front": "front/GX010390.MP4", "side": "side/GX010400.MP4", "oblique": "oblique/GX010401.MP4" } }, { "id": "following_sequence_example_63", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ], "interest_objects": [ "alphabet_soup_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_63.bddl", "video": { "front": "front/GX010391.MP4", "side": "side/GX010401.MP4", "oblique": "oblique/GX010402.MP4" } }, { "id": "following_sequence_example_64", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_middle_right_region)", "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "interest_objects": [ "ketchup_1", "alphabet_soup_1" ], "oracle_plan": [ "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_middle_right_region)", "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_middle_left_region)", "PICK(alphabet_soup_1, main_middle_right_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_64.bddl", "video": { "front": "front/GX010392.MP4", "side": "side/GX010402.MP4", "oblique": "oblique/GX010403.MP4" } }, { "id": "following_sequence_example_65", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "butter_1", "cream_cheese_1", "milk_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_left_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_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_back_center_region" ], [ "On", "milk_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_back_center_region" ], [ "On", "milk_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "milk_1", "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", "milk_1", "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", "milk_1", "main_middle_center_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_front_center_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" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_65.bddl", "video": { "front": "front/GX010393.MP4", "side": "side/GX010403.MP4", "oblique": "oblique/GX010404.MP4" } }, { "id": "following_sequence_example_66", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "butter_1", "cream_cheese_1", "milk_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_middle_center_region" ], [ "On", "milk_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_1, main_middle_center_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_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_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", "milk_1", "main_middle_right_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", "milk_1", "main_middle_right_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", "milk_1", "main_middle_right_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", "milk_1", "main_middle_right_region" ] ], "interest_objects": [ "cream_cheese_1", "butter_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_middle_center_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_center_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" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_66.bddl", "video": { "front": "front/GX010394.MP4", "side": "side/GX010404.MP4", "oblique": "oblique/GX010405.MP4" } }, { "id": "following_sequence_example_67", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "butter_1", "cream_cheese_1", "milk_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "milk_1", "main_back_right_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_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_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_back_right_region" ] ] }, { "after_action": "PICK(butter_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_back_right_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", "milk_1", "main_back_right_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", "milk_1", "main_back_right_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_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_middle_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" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_67.bddl", "video": { "front": "front/GX010395.MP4", "side": "side/GX010405.MP4", "oblique": "oblique/GX010406.MP4" } }, { "id": "following_sequence_example_68", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "milk_1", "alphabet_soup_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "alphabet_soup_1", "main_back_left_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_back_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ], "interest_objects": [ "alphabet_soup_1", "ketchup_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_back_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_front_right_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_68.bddl", "video": { "front": "front/GX010396.MP4", "side": "side/GX010406.MP4", "oblique": "oblique/GX010407.MP4" } }, { "id": "following_sequence_example_69", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "milk_1", "alphabet_soup_1", "ketchup_1", "orange_juice_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_center_region" ] ], "interest_objects": [ "alphabet_soup_1", "ketchup_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_middle_right_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_69.bddl", "video": { "front": "front/GX010397.MP4", "side": "side/GX010407.MP4", "oblique": "oblique/GX010408.MP4" } }, { "id": "following_sequence_example_70", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "ketchup_1", "orange_juice_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_left_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] }, { "after_action": "PICK(ketchup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(ketchup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ], "interest_objects": [ "alphabet_soup_1", "ketchup_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_left_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_middle_right_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_70.bddl", "video": { "front": "front/GX010398.MP4", "side": "side/GX010408.MP4", "oblique": "oblique/GX010409.MP4" } }, { "id": "following_sequence_example_71", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "orange_juice_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_center_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ], "primitive_action_sequence": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "sub_goals": [ { "after_action": "PICK(alphabet_soup_1, main_middle_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(alphabet_soup_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "alphabet_soup_1", "basket_1_contain_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ], "interest_objects": [ "alphabet_soup_1" ], "oracle_plan": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(alphabet_soup_1, main_middle_center_region)", "PLACE(alphabet_soup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "alphabet_soup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_71.bddl", "video": { "front": "front/GX010399.MP4", "side": "side/GX010409.MP4", "oblique": "oblique/GX010410.MP4" } }, { "id": "following_sequence_example_72", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "alphabet_soup_1", "orange_juice_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_front_right_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", "alphabet_soup_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_front_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_front_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "alphabet_soup_1", "main_middle_right_region" ], [ "On", "orange_juice_1", "main_front_right_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" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_72.bddl", "video": { "front": "front/GX010400.MP4", "side": "side/GX010410.MP4", "oblique": "oblique/GX010411.MP4" } }, { "id": "following_sequence_example_73", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_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)", "PICK(cream_cheese_1, main_middle_center_region)", "PLACE(cream_cheese_1, basket_2_contain_region)" ], "sub_goals": [ { "after_action": "PICK(butter_1, main_middle_left_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_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "butter_1", "basket_1_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_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", "butter_1", "basket_1_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_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, basket_1_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_middle_right_region)", "PLACE(butter_1, basket_1_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_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_73.bddl", "video": { "front": "front/GX010401.MP4", "side": "side/GX010411.MP4", "oblique": "oblique/GX010412.MP4" } }, { "id": "following_sequence_example_74", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "primitive_action_sequence": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, 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", "cream_cheese_1", "main_back_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_back_center_region" ] ] }, { "after_action": "PICK(cream_cheese_1, main_back_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_1_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_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", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "butter_1", "cream_cheese_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_2_contain_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_2_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_74.bddl", "video": { "front": "front/GX010402.MP4", "side": "side/GX010412.MP4", "oblique": "oblique/GX010413.MP4" } }, { "id": "following_sequence_example_75", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_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)" ], "sub_goals": [ { "after_action": "PICK(cream_cheese_1, main_middle_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_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" ], [ "On", "butter_1", "main_middle_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "cream_cheese_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_75.bddl", "video": { "front": "front/GX010403.MP4", "side": "side/GX010413.MP4", "oblique": "oblique/GX010414.MP4" } }, { "id": "following_sequence_example_76", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_1, main_back_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_back_left_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_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" ] ] }, { "after_action": "PICK(butter_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_1_contain_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" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "interest_objects": [ "cream_cheese_1", "butter_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_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_front_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" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_76.bddl", "video": { "front": "front/GX010404.MP4", "side": "side/GX010414.MP4", "oblique": "oblique/GX010415.MP4" } }, { "id": "following_sequence_example_77", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, 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_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ] ] }, { "after_action": "PLACE(cream_cheese_1, 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", "cream_cheese_1", "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_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", "butter_1", "basket_1_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_1_contain_region" ], [ "In", "cream_cheese_1", "basket_2_contain_region" ] ], "interest_objects": [ "cream_cheese_1", "butter_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, 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_right_region)", "PLACE(cream_cheese_1, 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", "cream_cheese_1", "basket_2_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_77.bddl", "video": { "front": "front/GX010405.MP4", "side": "side/GX010415.MP4", "oblique": "oblique/GX010416.MP4" } }, { "id": "following_sequence_example_79", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "wooden_tray_1", "cream_cheese_1", "cream_cheese_2", "butter_1", "milk_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "cream_cheese_2", "main_back_left_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ] ], "primitive_action_sequence": [ "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, 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_2, main_back_left_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_region" ] ] }, { "after_action": "PLACE(cream_cheese_2, basket_1_contain_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "milk_1", "main_middle_right_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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "On", "milk_1", "main_middle_right_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", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_middle_right_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "cream_cheese_1", "wooden_tray_1_contain_region" ], [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_middle_right_region" ] ], "interest_objects": [ "cream_cheese_2", "butter_1" ], "oracle_plan": [ "PICK(cream_cheese_2, main_back_left_region)", "PLACE(cream_cheese_2, basket_1_contain_region)", "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_2, main_front_right_region)", "PLACE(cream_cheese_2, basket_1_contain_region)", "PICK(butter_1, main_front_center_region)", "PLACE(butter_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_2", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_79.bddl", "video": { "front": "front/GX010407.MP4", "side": "side/GX010417.MP4", "oblique": "oblique/GX010418.MP4" } }, { "id": "following_sequence_example_80", "simulation_task": { "language_instruction": "Start executing the instruction from the initial scene of the video: move objects by imitating the sequence of actions shown in the video.", "objects": [ "basket_1", "basket_2", "cream_cheese_1", "butter_1", "butter_2" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_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_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "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", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_center_region" ] ] }, { "after_action": "PICK(butter_1, main_back_center_region)", "states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "butter_2", "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", "cream_cheese_1", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "butter_2", "main_middle_center_region" ] ] } ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "basket_2", "fixture_front_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "butter_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", "cream_cheese_1", "basket_1_contain_region" ], [ "In", "butter_1", "basket_1_contain_region" ] ] }, "bddl_file": "Imitation/KITCHEN_EASY_0_FOLLOWING_SEQUENCES_FOLLOWING_SEQUENCE_EXAMPLE_80.bddl", "video": { "front": "front/GX010408.MP4", "side": "side/GX010418.MP4", "oblique": "oblique/GX010419.MP4" } } ] }