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