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