{ "examples": [ { "id": "termporal_anchoring_0", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Restore the objects to their positions when the person appeared in the frame for the second time.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "butter_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "In", "butter_1", "wooden_cabinet_1_top_region" ], [ "Close", "wooden_cabinet_1_top_region" ], [ "Close", "wooden_cabinet_1_middle_region" ], [ "Close", "wooden_cabinet_1_bottom_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "Close", "wooden_cabinet_1_top_region" ], [ "Close", "wooden_cabinet_1_middle_region" ], [ "Close", "wooden_cabinet_1_bottom_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_middle_right_region)", "PLACE(orange_juice_1, main_back_right_region)", "OPEN(wooden_cabinet_1, top_region)", "PICK(butter_1, wooden_cabinet_1_top_region)", "PLACE(butter_1, main_middle_center_region)", "CLOSE(wooden_cabinet_1, top_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_middle_left_region)", "PLACE(orange_juice_1, main_front_left_region)", "OPEN(wooden_cabinet_1, top_region)", "PICK(butter_1, wooden_cabinet_1_top_region)", "PLACE(butter_1, main_middle_center_region)", "CLOSE(wooden_cabinet_1, top_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_0.bddl", "video": { "front": "front/GX010320.MP4", "side": "side/GX010330.MP4", "oblique": "oblique/GX010331.MP4" } }, { "id": "termporal_anchoring_1", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Restore the objects to their positions when the person appeared in the frame for the second time.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "butter_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_right_region" ], [ "On", "butter_1", "main_middle_center_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "In", "butter_1", "basket_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_middle_right_region)", "PLACE(orange_juice_1, main_back_right_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_middle_left_region)", "PLACE(orange_juice_1, main_front_left_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_back_right_region" ], [ "In", "butter_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_1.bddl", "video": { "front": "front/GX010321.MP4", "side": "side/GX010331.MP4", "oblique": "oblique/GX010332.MP4" } }, { "id": "termporal_anchoring_2", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, main_back_center_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, main_front_center_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_back_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_2.bddl", "video": { "front": "front/GX010322.MP4", "side": "side/GX010332.MP4", "oblique": "oblique/GX010333.MP4" } }, { "id": "termporal_anchoring_3", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "orange_juice_1" ], "oracle_plan": [ "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, main_middle_right_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_right_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, main_middle_left_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "butter_1", "main_middle_right_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_3.bddl", "video": { "front": "front/GX010323.MP4", "side": "side/GX010333.MP4", "oblique": "oblique/GX010334.MP4" } }, { "id": "termporal_anchoring_4", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "butter_1", "butter_2", "cream_cheese_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_left_region" ], [ "In", "butter_1", "wooden_cabinet_1_top_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "orange_juice_1" ], "oracle_plan": [ "OPEN(wooden_cabinet_1, top drawer)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, wooden_cabinet_1_top_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_middle_left_region)" ], "oracle_plan_human": [ "OPEN(wooden_cabinet_1, top drawer)", "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, wooden_cabinet_1_top_region)", "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_middle_right_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_middle_left_region" ], [ "In", "butter_1", "wooden_cabinet_1_top_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_4.bddl", "video": { "front": "front/GX010324.MP4", "side": "side/GX010334.MP4", "oblique": "oblique/GX010335.MP4" } }, { "id": "termporal_anchoring_5", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "milk_1", "butter_1", "cream_cheese_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_middle_right_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "cream_cheese_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_5.bddl", "video": { "front": "front/GX010325.MP4", "side": "side/GX010335.MP4", "oblique": "oblique/GX010336.MP4" } }, { "id": "termporal_anchoring_6", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "ketchup_1", "main_back_center_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_back_right_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(ketchup_1, main_back_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_front_left_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(ketchup_1, main_front_center_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_middle_center_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_6.bddl", "video": { "front": "front/GX010326.MP4", "side": "side/GX010336.MP4", "oblique": "oblique/GX010337.MP4" } }, { "id": "termporal_anchoring_7", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "wooden_cabinet_1", "basket_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "final_goal": [ [ "On", "wooden_cabinet_1", "fixture_back_region" ], [ "On", "basket_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "milk_1", "main_front_center_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "milk_1" ], "oracle_plan": [ "PICK(milk_1, main_back_center_region)", "PLACE(milk_1, main_front_center_region)" ], "oracle_plan_human": [ "PICK(milk_1, main_front_center_region)", "PLACE(milk_1, main_back_center_region)" ], "interest_objects_final_states": [ [ "On", "milk_1", "main_front_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_7.bddl", "video": { "front": "front/GX010327.MP4", "side": "side/GX010337.MP4", "oblique": "oblique/GX010338.MP4" } }, { "id": "termporal_anchoring_8", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "basket_1", "wooden_tray_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "orange_juice_1", "wooden_tray_1_contain_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1", "milk_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_back_right_region)", "PLACE(orange_juice_1, wooden_tray_1_contain_region)", "PICK(milk_1, main_middle_right_region)", "PLACE(milk_1, basket_1_contain_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_front_left_region)", "PLACE(orange_juice_1, wooden_tray_1_contain_region)", "PICK(milk_1, main_middle_left_region)", "PLACE(milk_1, basket_1_contain_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_middle_center_region)" ], "interest_objects_final_states": [ [ "In", "orange_juice_1", "wooden_tray_1_contain_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_8.bddl", "video": { "front": "front/GX010328.MP4", "side": "side/GX010338.MP4", "oblique": "oblique/GX010339.MP4" } }, { "id": "termporal_anchoring_9", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "basket_1", "wooden_tray_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_front_left_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1", "milk_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_back_left_region)", "PICK(milk_1, main_front_left_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_middle_center_region)", "PLACE(orange_juice_1, main_front_right_region)", "PICK(milk_1, main_back_right_region)", "PLACE(milk_1, wooden_tray_1_contain_region)", "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "In", "ketchup_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_9.bddl", "video": { "front": "front/GX010329.MP4", "side": "side/GX010339.MP4", "oblique": "oblique/GX010340.MP4" } }, { "id": "termporal_anchoring_10", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "basket_1", "wooden_tray_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_front_left_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1" ], "oracle_plan": [ "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_front_left_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_back_right_region)" ], "interest_objects_final_states": [ [ "On", "ketchup_1", "main_front_left_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_10.bddl", "video": { "front": "front/GX010330.MP4", "side": "side/GX010340.MP4", "oblique": "oblique/GX010341.MP4" } }, { "id": "termporal_anchoring_11", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the orange juice in the video.", "objects": [ "basket_1", "wooden_tray_1", "orange_juice_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_back_right_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "ketchup_1", "main_front_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1", "milk_1", "orange_juice_1" ], "oracle_plan": [ "PICK(orange_juice_1, main_back_right_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(milk_1, main_back_center_region)", "PLACE(milk_1, main_middle_right_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_front_center_region)" ], "oracle_plan_human": [ "PICK(orange_juice_1, main_front_left_region)", "PLACE(orange_juice_1, main_middle_center_region)", "PICK(milk_1, main_front_center_region)", "PLACE(milk_1, main_middle_left_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_back_center_region)" ], "interest_objects_final_states": [ [ "On", "orange_juice_1", "main_middle_center_region" ], [ "On", "milk_1", "main_middle_right_region" ], [ "On", "ketchup_1", "main_front_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_11.bddl", "video": { "front": "front/GX010331.MP4", "side": "side/GX010341.MP4", "oblique": "oblique/GX010342.MP4" } }, { "id": "termporal_anchoring_12", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "cream_cheese_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1" ], "oracle_plan": [ "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_12.bddl", "video": { "front": "front/GX010332.MP4", "side": "side/GX010342.MP4", "oblique": "oblique/GX010343.MP4" } }, { "id": "termporal_anchoring_13", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "cream_cheese_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_2", "ketchup_1" ], "oracle_plan": [ "PICK(butter_2, main_back_right_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_front_left_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_middle_center_region)" ], "interest_objects_final_states": [ [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_13.bddl", "video": { "front": "front/GX010333.MP4", "side": "side/GX010343.MP4", "oblique": "oblique/GX010344.MP4" } }, { "id": "termporal_anchoring_14", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "cream_cheese_1", "new_salad_dressing_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "new_salad_dressing_1", "basket_1_contain_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "new_salad_dressing_1" ], "oracle_plan": [ "PICK(new_salad_dressing_1, main_middle_right_region)", "PLACE(new_salad_dressing_1, basket_1_contain_region)", "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, main_back_right_region)" ], "oracle_plan_human": [ "PICK(new_salad_dressing_1, main_middle_left_region)", "PLACE(new_salad_dressing_1, basket_1_contain_region)", "PICK(butter_1, main_front_center_region)", "PLACE(butter_1, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_back_right_region" ], [ "In", "new_salad_dressing_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_14.bddl", "video": { "front": "front/GX010334.MP4", "side": "side/GX010344.MP4", "oblique": "oblique/GX010345.MP4" } }, { "id": "termporal_anchoring_15", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "cream_cheese_1", "new_salad_dressing_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_center_region" ], [ "On", "butter_2", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1" ], "oracle_plan": [ "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, main_middle_center_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_center_region)", "PLACE(butter_1, main_middle_center_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_middle_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_15.bddl", "video": { "front": "front/GX010335.MP4", "side": "side/GX010345.MP4", "oblique": "oblique/GX010346.MP4" } }, { "id": "termporal_anchoring_16", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "cream_cheese_1", "new_salad_dressing_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_left_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "new_salad_dressing_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "On", "new_salad_dressing_1", "main_back_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_2", "cream_cheese_1", "ketchup_1" ], "oracle_plan": [ "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)", "PICK(butter_2, main_back_left_region)", "PLACE(butter_2, main_middle_center_region)", "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, main_front_center_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)", "PICK(butter_2, main_front_right_region)", "PLACE(butter_2, main_middle_center_region)", "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, main_back_center_region)" ], "interest_objects_final_states": [ [ "On", "butter_2", "main_middle_center_region" ], [ "On", "cream_cheese_1", "main_front_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_16.bddl", "video": { "front": "front/GX010336.MP4", "side": "side/GX010346.MP4", "oblique": "oblique/GX010347.MP4" } }, { "id": "termporal_anchoring_17", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "cream_cheese_1", "new_salad_dressing_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "cream_cheese_1", "ketchup_1" ], "oracle_plan": [ "PICK(butter_1, main_middle_right_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_back_center_region)", "PLACE(cream_cheese_1, main_middle_left_region)", "PICK(ketchup_1, main_back_right_region)", "PLACE(ketchup_1, main_middle_right_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_middle_left_region)", "PLACE(butter_1, basket_1_contain_region)", "PICK(cream_cheese_1, main_front_center_region)", "PLACE(cream_cheese_1, main_middle_right_region)", "PICK(ketchup_1, main_front_left_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "interest_objects_final_states": [ [ "In", "butter_1", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "On", "ketchup_1", "main_middle_right_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_17.bddl", "video": { "front": "front/GX010337.MP4", "side": "side/GX010347.MP4", "oblique": "oblique/GX010348.MP4" } }, { "id": "termporal_anchoring_18", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "cream_cheese_1", "new_salad_dressing_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "new_salad_dressing_1", "main_middle_center_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "cream_cheese_1", "ketchup_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, main_back_center_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_back_right_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_front_right_region)", "PLACE(cream_cheese_1, main_front_center_region)", "PICK(ketchup_1, wooden_tray_1_contain_region)", "PLACE(ketchup_1, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "cream_cheese_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_back_right_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_18.bddl", "video": { "front": "front/GX010338.MP4", "side": "side/GX010348.MP4", "oblique": "oblique/GX010349.MP4" } }, { "id": "termporal_anchoring_19", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "milk_1", "main_middle_center_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "milk_1" ], "oracle_plan": [ "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, main_back_right_region)" ], "oracle_plan_human": [ "PICK(milk_1, main_middle_center_region)", "PLACE(milk_1, main_front_left_region)" ], "interest_objects_final_states": [ [ "On", "milk_1", "main_back_right_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_19.bddl", "video": { "front": "front/GX010339.MP4", "side": "side/GX010349.MP4", "oblique": "oblique/GX010350.MP4" } }, { "id": "termporal_anchoring_20", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_2", "ketchup_1" ], "oracle_plan": [ "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_2, main_middle_center_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(ketchup_1, main_front_right_region)", "PLACE(ketchup_1, wooden_tray_1_contain_region)" ], "interest_objects_final_states": [ [ "In", "butter_2", "basket_1_contain_region" ], [ "In", "ketchup_1", "wooden_tray_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_20.bddl", "video": { "front": "front/GX010340.MP4", "side": "side/GX010350.MP4", "oblique": "oblique/GX010351.MP4" } }, { "id": "termporal_anchoring_21", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_right_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "butter_2", "main_back_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "butter_2", "ketchup_1", "milk_1" ], "oracle_plan": [ "PICK(ketchup_1, main_middle_left_region)", "PLACE(ketchup_1, main_back_left_region)", "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_front_right_region)", "PLACE(milk_1, main_back_right_region)", "PICK(butter_2, main_middle_right_region)", "PLACE(butter_2, main_back_center_region)", "PICK(butter_1, main_middle_center_region)", "PLACE(butter_1, main_middle_right_region)" ], "oracle_plan_human": [ "PICK(ketchup_1, main_middle_right_region)", "PLACE(ketchup_1, main_front_right_region)", "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, main_middle_center_region)", "PICK(milk_1, main_back_left_region)", "PLACE(milk_1, main_front_left_region)", "PICK(butter_2, main_middle_left_region)", "PLACE(butter_2, main_front_center_region)", "PICK(butter_1, main_middle_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_center_region" ], [ "On", "milk_1", "main_back_right_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_21.bddl", "video": { "front": "front/GX010341.MP4", "side": "side/GX010351.MP4", "oblique": "oblique/GX010352.MP4" } }, { "id": "termporal_anchoring_22", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_middle_left_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1" ], "oracle_plan": [ "PICK(ketchup_1, main_back_left_region)", "PLACE(ketchup_1, main_middle_left_region)" ], "oracle_plan_human": [ "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" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_22.bddl", "video": { "front": "front/GX010342.MP4", "side": "side/GX010352.MP4", "oblique": "oblique/GX010353.MP4" } }, { "id": "termporal_anchoring_23", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the ketchup in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "butter_2", "main_middle_right_region" ], [ "On", "milk_1", "main_front_center_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "ketchup_1", "milk_1" ], "oracle_plan": [ "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_front_center_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, main_back_left_region)" ], "oracle_plan_human": [ "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_back_center_region)", "PICK(ketchup_1, main_middle_center_region)", "PLACE(ketchup_1, main_front_right_region)" ], "interest_objects_final_states": [ [ "On", "milk_1", "main_front_center_region" ], [ "On", "ketchup_1", "main_back_left_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_23.bddl", "video": { "front": "front/GX010343.MP4", "side": "side/GX010353.MP4", "oblique": "oblique/GX010354.MP4" } }, { "id": "termporal_anchoring_24", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the milk in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "cream_cheese_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "cream_cheese_1", "milk_1" ], "oracle_plan": [ "PICK(cream_cheese_1, main_back_right_region)", "PLACE(cream_cheese_1, basket_1_contain_region)", "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_back_center_region)" ], "oracle_plan_human": [ "PICK(cream_cheese_1, main_front_left_region)", "PLACE(cream_cheese_1, basket_1_contain_region)", "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_front_center_region)" ], "interest_objects_final_states": [ [ "In", "cream_cheese_1", "basket_1_contain_region" ], [ "On", "milk_1", "main_back_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_24.bddl", "video": { "front": "front/GX010344.MP4", "side": "side/GX010354.MP4", "oblique": "oblique/GX010355.MP4" } }, { "id": "termporal_anchoring_25", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the milk in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "cream_cheese_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_back_center_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "milk_1", "basket_1_contain_region" ], [ "On", "ketchup_1", "main_back_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "cream_cheese_1", "milk_1" ], "oracle_plan": [ "PICK(butter_1, main_back_right_region)", "PLACE(butter_1, main_middle_right_region)", "PICK(cream_cheese_1, main_back_left_region)", "PLACE(cream_cheese_1, main_back_right_region)", "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, basket_1_contain_region)" ], "oracle_plan_human": [ "PICK(butter_1, main_front_left_region)", "PLACE(butter_1, main_middle_left_region)", "PICK(cream_cheese_1, main_front_right_region)", "PLACE(cream_cheese_1, main_front_left_region)", "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, basket_1_contain_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_middle_right_region" ], [ "On", "cream_cheese_1", "main_back_right_region" ], [ "In", "milk_1", "basket_1_contain_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_25.bddl", "video": { "front": "front/GX010345.MP4", "side": "side/GX010355.MP4", "oblique": "oblique/GX010356.MP4" } }, { "id": "termporal_anchoring_26", "simulation_task": { "language_instruction": "Start executing the instruction from the final scene of the video: Please restore the objects to the positions they were in before the person picked up the milk in the video.", "objects": [ "basket_1", "wooden_tray_1", "butter_1", "butter_2", "cream_cheese_1", "milk_1", "ketchup_1" ], "initial_states": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_center_region" ], [ "On", "butter_2", "main_back_right_region" ], [ "On", "cream_cheese_1", "main_middle_left_region" ], [ "In", "milk_1", "wooden_tray_1_contain_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "final_goal": [ [ "On", "basket_1", "fixture_back_region" ], [ "On", "wooden_tray_1", "fixture_front_region" ], [ "On", "butter_1", "main_back_right_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "milk_1", "main_back_center_region" ], [ "On", "ketchup_1", "main_middle_center_region" ] ], "primitive_action_sequence": null, "sub_goals": null, "interest_objects": [ "butter_1", "butter_2", "cream_cheese_1", "milk_1" ], "oracle_plan": [ "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_back_center_region)", "PICK(butter_1, main_back_center_region)", "PLACE(butter_1, main_back_right_region)", "PICK(butter_2, main_back_right_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(cream_cheese_1, main_middle_left_region)", "PLACE(cream_cheese_1, main_back_left_region)" ], "oracle_plan_human": [ "PICK(milk_1, wooden_tray_1_contain_region)", "PLACE(milk_1, main_front_center_region)", "PICK(butter_1, main_front_center_region)", "PLACE(butter_1, main_front_left_region)", "PICK(butter_2, main_front_left_region)", "PLACE(butter_2, basket_1_contain_region)", "PICK(cream_cheese_1, main_middle_right_region)", "PLACE(cream_cheese_1, main_front_right_region)" ], "interest_objects_final_states": [ [ "On", "butter_1", "main_back_right_region" ], [ "In", "butter_2", "basket_1_contain_region" ], [ "On", "cream_cheese_1", "main_back_left_region" ], [ "On", "milk_1", "main_back_center_region" ] ] }, "bddl_file": "Moment/KITCHEN_9_TERMPORAL_ANCHORING_TERMPORAL_ANCHORING_26.bddl", "video": { "front": "front/GX010346.MP4", "side": "side/GX010356.MP4", "oblique": "oblique/GX010357.MP4" } } ] }