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ESI-Bench
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esi-bench

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id
stringdate
1-01-01 00:00:00
3543-01-01 00:00:00
big_task
stringclasses
10 values
small_task
stringclasses
29 values
runner_task
stringclasses
19 values
scene
stringclasses
52 values
room
stringclasses
68 values
question
stringlengths
29
634
⌀
answer
stringclasses
650 values
answer_type
stringclasses
4 values
options_json
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280 values
image_paths_json
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528 values
metadata_json
stringlengths
13
347
0001
Action Sequencing
Action Order Inference
action
Beechwood_0_garden
bathroom_0
Which baking_sheet should go under the feta_box as its base, and which lemon should go on top of the feta_box? The baking_sheet to the right or left of the feta_box? The lemon to the left or right of the feta_box?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2731547814,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0002
Action Sequencing
Action Order Inference
action
Beechwood_0_garden
dining_room_0
Which cutting_board should go under the mixing_bowl as its base, and which plum should go on top of the mixing_bowl? The cutting_board to the above or below of the mixing_bowl? The plum to the below or above of the mixing_bowl?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3096445070,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0003
Action Sequencing
Action Order Inference
action
Beechwood_0_garden
kitchen_0
Which baking_sheet should go under the mixing_bowl as its base, and which plum should go on top of the mixing_bowl? The baking_sheet to the left or right of the mixing_bowl? The plum to the right or left of the mixing_bowl?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":339487959,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0004
Action Sequencing
Action Order Inference
action
Beechwood_0_garden
living_room_1
Which outline_tray should go under the toy_box as its base, and which lemon should go on top of the toy_box? The outline_tray to the left or right of the toy_box? The lemon to the left or right of the toy_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1770889808,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0005
Action Sequencing
Action Order Inference
action
Beechwood_0_garden
storage_room_0
Which platter should go under the box_of_takeout as its base, and which orange should go on top of the box_of_takeout? The platter to the below or above of the box_of_takeout? The orange to the below or above of the box_of_takeout?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4212216979,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0006
Action Sequencing
Action Order Inference
action
Beechwood_0_int
bathroom_0
Which platter should go under the wicker_basket as its base, and which egg should go on top of the wicker_basket? The platter to the right or left of the wicker_basket? The egg to the right or left of the wicker_basket?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3703903332,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0007
Action Sequencing
Action Order Inference
action
Beechwood_0_int
corridor_0
Which tray should go under the box_of_flour as its base, and which hard_boiled_egg should go on top of the box_of_flour? The tray to the above or below of the box_of_flour? The hard_boiled_egg to the below or above of the box_of_flour?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3362927654,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0008
Action Sequencing
Action Order Inference
action
Beechwood_0_int
storage_room_0
Which pizza_box should go under the tupperware as its base, and which lemon should go on top of the tupperware? The pizza_box to the below or above of the tupperware? The lemon to the below or above of the tupperware?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1546946867,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0009
Action Sequencing
Action Order Inference
action
Beechwood_1_int
bedroom_0
Which tray should go under the bucket as its base, and which lemon should go on top of the bucket? The tray to the below or above of the bucket? The lemon to the below or below of the bucket?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3694826572,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0010
Action Sequencing
Action Order Inference
action
Beechwood_1_int
childs_room_0
Which chopping_block should go under the box_of_corn_flakes as its base, and which lemon should go on top of the box_of_corn_flakes? The chopping_block to the above or below of the box_of_corn_flakes? The lemon to the below or above of the box_of_corn_flakes?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3950870655,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0011
Action Sequencing
Action Order Inference
action
Beechwood_1_int
corridor_0
Which board should go under the mixing_bowl as its base, and which kiwi should go on top of the mixing_bowl? The board to the below or above of the mixing_bowl? The kiwi to the below or above of the mixing_bowl?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1173886011,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0012
Action Sequencing
Action Order Inference
action
Beechwood_1_int
playroom_0
Which board should go under the lunch_box as its base, and which dice should go on top of the lunch_box? The board to the left or right of the lunch_box? The dice to the left or right of the lunch_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3823567163,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0013
Action Sequencing
Action Order Inference
action
Beechwood_1_int
television_room_0
Which plate should go under the pasta_box as its base, and which cherry should go on top of the pasta_box? The plate to the left or right of the pasta_box? The cherry to the left or right of the pasta_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3751140882,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0014
Action Sequencing
Action Order Inference
action
Benevolence_0_int
corridor_0
Which tray should go under the plant_pot as its base, and which apple_pie should go on top of the plant_pot? The tray to the left or right of the plant_pot? The apple_pie to the left or right of the plant_pot?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2757611639,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0015
Action Sequencing
Action Order Inference
action
Benevolence_0_int
empty_room_0
Which mat should go under the shoe_box as its base, and which lime should go on top of the shoe_box? The mat to the left or right of the shoe_box? The lime to the right or left of the shoe_box?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3996559790,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0016
Action Sequencing
Action Order Inference
action
Ihlen_0_int
garage_0
Which baking_sheet should go under the box_of_fruit as its base, and which egg should go on top of the box_of_fruit? The baking_sheet to the right or left of the box_of_fruit? The egg to the right or left of the box_of_fruit?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1900169542,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0017
Action Sequencing
Action Order Inference
action
Ihlen_0_int
storage_room_0
Which platter should go under the box_of_oatmeal as its base, and which apple should go on top of the box_of_oatmeal? The platter to the below or above of the box_of_oatmeal? The apple to the below or above of the box_of_oatmeal?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3641610469,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0018
Action Sequencing
Action Order Inference
action
Ihlen_0_int
storage_room_1
Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3525101954,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0019
Action Sequencing
Action Order Inference
action
Ihlen_1_int
kitchen_0
Which outline_tray should go under the box_of_fruit as its base, and which lemon should go on top of the box_of_fruit? The outline_tray to the right or left of the box_of_fruit? The lemon to the below or left of the box_of_fruit?
{"answer_A":"right","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1083558016,"run_idx":0,"qa":{"answer_A":"right","answer_C":"below"}}
0020
Action Sequencing
Action Order Inference
action
Merom_0_garden
bathroom_0
Which chopping_board should go under the wicker_basket as its base, and which pear should go on top of the wicker_basket? The chopping_board to the above or below of the wicker_basket? The pear to the below or above of the wicker_basket?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1047879285,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0021
Action Sequencing
Action Order Inference
action
Merom_0_garden
storage_room_0
Which platter should go under the copper_pot as its base, and which lemon_peel should go on top of the copper_pot? The platter to the left or right of the copper_pot? The lemon_peel to the right or left of the copper_pot?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4034381335,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0022
Action Sequencing
Action Order Inference
action
Merom_0_garden
utility_room_0
Which pizza_box should go under the wicker_basket as its base, and which lemon should go on top of the wicker_basket? The pizza_box to the above or below of the wicker_basket? The lemon to the below or above of the wicker_basket?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3681994736,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0023
Action Sequencing
Action Order Inference
action
Merom_0_int
childs_room_0
Which chopping_board should go under the box_of_fruit as its base, and which easter_egg should go on top of the box_of_fruit? The chopping_board to the below or above of the box_of_fruit? The easter_egg to the below or above of the box_of_fruit?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":731902373,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0024
Action Sequencing
Action Order Inference
action
Merom_0_int
playroom_0
Which cutting_board should go under the shoe_box as its base, and which cherry_tomato should go on top of the shoe_box? The cutting_board to the right or left of the shoe_box? The cherry_tomato to the right or left of the shoe_box?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2149169544,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0025
Action Sequencing
Action Order Inference
action
Merom_0_int
utility_room_0
Which outline_tray should go under the tackle_box as its base, and which orange should go on top of the tackle_box? The outline_tray to the below or above of the tackle_box? The orange to the below or above of the tackle_box?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1893367536,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0026
Action Sequencing
Action Order Inference
action
Merom_1_int
living_room_0
Which outline_tray should go under the shopping_basket as its base, and which easter_egg should go on top of the shopping_basket? The outline_tray to the right or left of the shopping_basket? The easter_egg to the right or left of the shopping_basket?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3555201303,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0027
Action Sequencing
Action Order Inference
action
Pomaria_0_garden
garden_0
Which chopping_board should go under the bowl as its base, and which pomegranate should go on top of the bowl? The chopping_board to the left or right of the bowl? The pomegranate to the right or left of the bowl?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1730040296,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0028
Action Sequencing
Action Order Inference
action
Pomaria_0_garden
private_office_0
Which saucer should go under the feta_box as its base, and which olive should go on top of the feta_box? The saucer to the above or below of the feta_box? The olive to the below or above of the feta_box?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3448855870,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0029
Action Sequencing
Action Order Inference
action
Pomaria_0_int
bathroom_0
Which baking_sheet should go under the box_of_coffee as its base, and which raw_egg should go on top of the box_of_coffee? The baking_sheet to the above or below of the box_of_coffee? The raw_egg to the above or below of the box_of_coffee?
{"answer_A":"above","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1084410826,"run_idx":0,"qa":{"answer_A":"above","answer_C":"above"}}
0030
Action Sequencing
Action Order Inference
action
Pomaria_1_int
living_room_0
Which platter should go under the stockpot as its base, and which apple should go on top of the stockpot? The platter to the left or right of the stockpot? The apple to the right or left of the stockpot?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2771058040,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0031
Action Sequencing
Action Order Inference
action
Pomaria_2_int
closet_0
Which cutting_board should go under the bowl as its base, and which apple should go on top of the bowl? The cutting_board to the left or right of the bowl? The apple to the left or right of the bowl?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3493020994,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0032
Action Sequencing
Action Order Inference
action
Rs_garden
kitchen_0
Which platter should go under the box_of_chocolates as its base, and which strawberry should go on top of the box_of_chocolates? The platter to the below or above of the box_of_chocolates? The strawberry to the below or above of the box_of_chocolates?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":919747361,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0033
Action Sequencing
Action Order Inference
action
Wainscott_0_garden
living_room_1
Which platter should go under the mixing_bowl as its base, and which cherry should go on top of the mixing_bowl? The platter to the right or left of the mixing_bowl? The cherry to the left or right of the mixing_bowl?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1657279405,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0034
Action Sequencing
Action Order Inference
action
Wainscott_0_garden
storage_room_1
Which plate should go under the gift_box as its base, and which kiwi should go on top of the gift_box? The plate to the above or below of the gift_box? The kiwi to the above or below of the gift_box?
{"answer_A":"above","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4171363314,"run_idx":0,"qa":{"answer_A":"above","answer_C":"above"}}
0035
Action Sequencing
Action Order Inference
action
Wainscott_1_int
bedroom_2
Which plate should go under the bowl as its base, and which apricot should go on top of the bowl? The plate to the right or left of the bowl? The apricot to the left or right of the bowl?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2423518514,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0036
Action Sequencing
Action Order Inference
action
Wainscott_1_int
playroom_0
Which roasting_pan should go under the mixing_bowl as its base, and which mushroom should go on top of the mixing_bowl? The roasting_pan to the right or left of the mixing_bowl? The mushroom to the left or right of the mixing_bowl?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1288889498,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0037
Action Sequencing
Action Order Inference
action
grocery_store_cafe
bar_0
Which platter should go under the box_of_almond_milk as its base, and which raw_egg should go on top of the box_of_almond_milk? The platter to the left or right of the box_of_almond_milk? The raw_egg to the left or right of the box_of_almond_milk?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2446534973,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0038
Action Sequencing
Action Order Inference
action
hall_conference_large
bathroom_0
Which outline_tray should go under the wicker_basket as its base, and which lemon should go on top of the wicker_basket? The outline_tray to the left or right of the wicker_basket? The lemon to the left or right of the wicker_basket?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2440605130,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0039
Action Sequencing
Action Order Inference
action
hotel_gym_spa
bathroom_0
Which cutting_board should go under the mixing_bowl as its base, and which apple should go on top of the mixing_bowl? The cutting_board to the below or above of the mixing_bowl? The apple to the below or above of the mixing_bowl?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3301469709,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0040
Action Sequencing
Action Order Inference
action
hotel_gym_spa
gym_0
Which platter should go under the storage_box as its base, and which hard_boiled_egg should go on top of the storage_box? The platter to the left or right of the storage_box? The hard_boiled_egg to the right or left of the storage_box?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1623133193,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0041
Action Sequencing
Action Order Inference
action
hotel_gym_spa
locker_room_0
Which cake_stand should go under the plant_pot as its base, and which blackberry should go on top of the plant_pot? The cake_stand to the right or left of the plant_pot? The blackberry to the left or right of the plant_pot?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":142145423,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0042
Action Sequencing
Action Order Inference
action
house_double_floor_lower
corridor_0
Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?
{"answer_A":"right","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3086972786,"run_idx":0,"qa":{"answer_A":"right","answer_C":"below"}}
0043
Action Sequencing
Action Order Inference
action
house_double_floor_lower
garden_0
Which board should go under the bowl as its base, and which apple should go on top of the bowl? The board to the below or above of the bowl? The apple to the below or above of the bowl?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":976795845,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0044
Action Sequencing
Action Order Inference
action
house_double_floor_lower
living_room_0
Which baking_sheet should go under the tupperware as its base, and which apple should go on top of the tupperware? The baking_sheet to the right or left of the tupperware? The apple to the left or right of the tupperware?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3013462173,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0045
Action Sequencing
Action Order Inference
action
house_double_floor_upper
living_room_0
Which platter should go under the shoe_box as its base, and which pebble should go on top of the shoe_box? The platter to the left or right of the shoe_box? The pebble to the left or right of the shoe_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1132076081,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0046
Action Sequencing
Action Order Inference
action
house_single_floor
bathroom_1
Which baking_sheet should go under the box_of_milk as its base, and which apple should go on top of the box_of_milk? The baking_sheet to the left or right of the box_of_milk? The apple to the left or right of the box_of_milk?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4135636442,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0047
Action Sequencing
Action Order Inference
action
house_single_floor
dining_room_0
Which cutting_board should go under the gift_box as its base, and which softball should go on top of the gift_box? The cutting_board to the right or below of the gift_box? The softball to the below or right of the gift_box?
{"answer_A":"right","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1455891615,"run_idx":0,"qa":{"answer_A":"right","answer_C":"below"}}
0048
Action Sequencing
Action Order Inference
action
house_single_floor
garden_0
Which tray should go under the mixing_bowl as its base, and which orange should go on top of the mixing_bowl? The tray to the left or right of the mixing_bowl? The orange to the left or above of the mixing_bowl?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2804993250,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0049
Action Sequencing
Action Order Inference
action
office_cubicles_left
corridor_0
Which platter should go under the mixing_bowl as its base, and which orange should go on top of the mixing_bowl? The platter to the right or left of the mixing_bowl? The orange to the left or right of the mixing_bowl?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3228107885,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0050
Action Sequencing
Action Order Inference
action
office_cubicles_left
lobby_0
Which pizza_box should go under the casserole as its base, and which pear should go on top of the casserole? The pizza_box to the left or right of the casserole? The pear to the left or right of the casserole?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1184205072,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0051
Action Sequencing
Action Order Inference
action
office_cubicles_left
private_office_1
Which tray should go under the copper_pot as its base, and which cherry_tomato should go on top of the copper_pot? The tray to the left or right of the copper_pot? The cherry_tomato to the left or right of the copper_pot?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":958197889,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0052
Action Sequencing
Action Order Inference
action
office_cubicles_right
bathroom_0
Which place_mat should go under the box_of_candy as its base, and which orange should go on top of the box_of_candy? The place_mat to the right or left of the box_of_candy? The orange to the right or left of the box_of_candy?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1416595667,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0053
Action Sequencing
Action Order Inference
action
office_cubicles_right
copy_room_0
Which baking_sheet should go under the crock_pot as its base, and which egg should go on top of the crock_pot? The baking_sheet to the above or below of the crock_pot? The egg to the above or below of the crock_pot?
{"answer_A":"above","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3798480530,"run_idx":0,"qa":{"answer_A":"above","answer_C":"above"}}
0054
Action Sequencing
Action Order Inference
action
office_cubicles_right
lobby_0
Which tray should go under the box_of_sake as its base, and which orange should go on top of the box_of_sake? The tray to the right or left of the box_of_sake? The orange to the left or right of the box_of_sake?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3935893628,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0055
Action Sequencing
Action Order Inference
action
office_cubicles_right
meeting_room_0
Which paving_stone should go under the tupperware as its base, and which raw_egg should go on top of the tupperware? The paving_stone to the left or right of the tupperware? The raw_egg to the left or right of the tupperware?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4135179790,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0056
Action Sequencing
Action Order Inference
action
office_large
copy_room_1
Which roasting_pan should go under the tupperware as its base, and which olive should go on top of the tupperware? The roasting_pan to the left or right of the tupperware? The olive to the right or left of the tupperware?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1027093000,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0057
Action Sequencing
Action Order Inference
action
office_large
lobby_0
Which chopping_block should go under the gift_box as its base, and which apricot should go on top of the gift_box? The chopping_block to the right or left of the gift_box? The apricot to the left or right of the gift_box?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":701486929,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0058
Action Sequencing
Action Order Inference
action
office_large
phone_room_0
Which platter should go under the bowl as its base, and which orange should go on top of the bowl? The platter to the below or above of the bowl? The orange to the above or below of the bowl?
{"answer_A":"below","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1817815312,"run_idx":0,"qa":{"answer_A":"below","answer_C":"above"}}
0059
Action Sequencing
Action Order Inference
action
office_large
phone_room_2
Which plate should go under the bowl as its base, and which orange should go on top of the bowl? The plate to the above or below of the bowl? The orange to the below or above of the bowl?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1405307303,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0060
Action Sequencing
Action Order Inference
action
office_large
private_office_2
Which chopping_board should go under the crock_pot as its base, and which hard_boiled_egg should go on top of the crock_pot? The chopping_board to the below or above of the crock_pot? The hard_boiled_egg to the below or left of the crock_pot?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4228675978,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0061
Action Sequencing
Action Order Inference
action
office_large
private_office_5
Which baking_sheet should go under the bowl as its base, and which apple should go on top of the bowl? The baking_sheet to the below or above of the bowl? The apple to the above or below of the bowl?
{"answer_A":"below","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3378108131,"run_idx":0,"qa":{"answer_A":"below","answer_C":"above"}}
0062
Action Sequencing
Action Order Inference
action
office_large
shared_office_0
Which platter should go under the box_of_cookies as its base, and which easter_egg should go on top of the box_of_cookies? The platter to the above or below of the box_of_cookies? The easter_egg to the below or above of the box_of_cookies?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":951237239,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0063
Action Sequencing
Action Order Inference
action
office_vendor_machine
corridor_0
Which outline_tray should go under the lunch_box as its base, and which kiwi should go on top of the lunch_box? The outline_tray to the left or right of the lunch_box? The kiwi to the left or right of the lunch_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2628044680,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0064
Action Sequencing
Action Order Inference
action
restaurant_asian
kitchen_0
Which chopping_block should go under the box_of_tissues as its base, and which cherry should go on top of the box_of_tissues? The chopping_block to the left or right of the box_of_tissues? The cherry to the left or right of the box_of_tissues?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":591126176,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0065
Action Sequencing
Action Order Inference
action
restaurant_cafeteria
corridor_0
Which outline_tray should go under the toy_box as its base, and which cherry_tomato should go on top of the toy_box? The outline_tray to the above or below of the toy_box? The cherry_tomato to the below or above of the toy_box?
{"answer_A":"above","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":26780184,"run_idx":0,"qa":{"answer_A":"above","answer_C":"below"}}
0066
Action Sequencing
Action Order Inference
action
restaurant_cafeteria
dining_room_0
Which outline_tray should go under the ice_bucket as its base, and which raspberry should go on top of the ice_bucket? The outline_tray to the right or left of the ice_bucket? The raspberry to the right or left of the ice_bucket?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3357765981,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0067
Action Sequencing
Action Order Inference
action
restaurant_diner
bar_0
Which roasting_pan should go under the hummus_box as its base, and which hard_boiled_egg should go on top of the hummus_box? The roasting_pan to the left or right of the hummus_box? The hard_boiled_egg to the left or right of the hummus_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":838319389,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0068
Action Sequencing
Action Order Inference
action
restaurant_diner
bathroom_0
Which plate should go under the bowl as its base, and which nectarine should go on top of the bowl? The plate to the left or right of the bowl? The nectarine to the right or left of the bowl?
{"answer_A":"left","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1130793618,"run_idx":0,"qa":{"answer_A":"left","answer_C":"right"}}
0069
Action Sequencing
Action Order Inference
action
restaurant_diner
kitchen_0
Which place_mat should go under the tupperware as its base, and which ping_pong_ball should go on top of the tupperware? The place_mat to the right or left of the tupperware? The ping_pong_ball to the left or right of the tupperware?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":4050967751,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0070
Action Sequencing
Action Order Inference
action
restaurant_hotel
dining_room_0
Which outline_tray should go under the tackle_box as its base, and which egg should go on top of the tackle_box? The outline_tray to the above or below of the tackle_box? The egg to the above or below of the tackle_box?
{"answer_A":"above","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2538652666,"run_idx":0,"qa":{"answer_A":"above","answer_C":"above"}}
0071
Action Sequencing
Action Order Inference
action
restaurant_urban
bar_0
Which baking_sheet should go under the lunch_box as its base, and which apple should go on top of the lunch_box? The baking_sheet to the right or left of the lunch_box? The apple to the right or left of the lunch_box?
{"answer_A":"right","answer_C":"right"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1552542910,"run_idx":0,"qa":{"answer_A":"right","answer_C":"right"}}
0072
Action Sequencing
Action Order Inference
action
restaurant_urban
corridor_0
Which tray should go under the box_of_champagne as its base, and which apple should go on top of the box_of_champagne? The tray to the below or above of the box_of_champagne? The apple to the below or above of the box_of_champagne?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3016115257,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0073
Action Sequencing
Action Order Inference
action
school_biology
corridor_0
Which roasting_pan should go under the lunch_box as its base, and which egg should go on top of the lunch_box? The roasting_pan to the left or right of the lunch_box? The egg to the left or right of the lunch_box?
{"answer_A":"left","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":2177149533,"run_idx":0,"qa":{"answer_A":"left","answer_C":"left"}}
0074
Action Sequencing
Action Order Inference
action
school_chemistry
corridor_0
Which tray should go under the lunch_box as its base, and which orange should go on top of the lunch_box? The tray to the below or above of the lunch_box? The orange to the below or above of the lunch_box?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1906707617,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0075
Action Sequencing
Action Order Inference
action
school_geography
bathroom_0
Which tupperware should go under the vase as its base, and which lemon should go on top of the vase? The tupperware to the below or above of the vase? The lemon to the above or below of the vase?
{"answer_A":"below","answer_C":"above"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":3522122265,"run_idx":0,"qa":{"answer_A":"below","answer_C":"above"}}
0076
Action Sequencing
Action Order Inference
action
school_geography
corridor_1
Which baking_sheet should go under the mixing_bowl as its base, and which egg should go on top of the mixing_bowl? The baking_sheet to the right or left of the mixing_bowl? The egg to the left or right of the mixing_bowl?
{"answer_A":"right","answer_C":"left"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":264877481,"run_idx":0,"qa":{"answer_A":"right","answer_C":"left"}}
0077
Action Sequencing
Action Order Inference
action
school_geography
corridor_2
Which outline_tray should go under the steamer_basket as its base, and which egg should go on top of the steamer_basket? The outline_tray to the below or above of the steamer_basket? The egg to the below or above of the steamer_basket?
{"answer_A":"below","answer_C":"below"}
freeform
[]
["stage0_initial_orb0.png"]
{"n_objects":3,"task":"action_order_inference","seed":1202275379,"run_idx":0,"qa":{"answer_A":"below","answer_C":"below"}}
0078
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_garden
full_scene
Are corridor_0 and private_office_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__corridor_0__private_office_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","pair_connectivity__corridor_0__private_office_0.png"]
{"floor_name":null,"question_index":1,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_001","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__corridor_0__private_office_0","case_type":"pair_connectivity"}}
0079
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_garden
full_scene
Are bathroom_0 and utility_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__utility_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","pair_connectivity__bathroom_0__utility_room_0.png"]
{"floor_name":null,"question_index":3,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_003","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__utility_room_0","case_type":"pair_connectivity"}}
0080
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_garden
full_scene
Are bathroom_0 and living_room_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__living_room_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","pair_connectivity__bathroom_0__living_room...
{"floor_name":null,"question_index":7,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_007","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__living_room_1","case_type":"pair_connectivity"}}
0081
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_int
full_scene
Are kitchen_0 and living_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__kitchen_0__living_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","pair_connectivity__kitchen_0__living_room_0.png"]
{"floor_name":null,"question_index":1,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_001","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__kitchen_0__living_room_0","case_type":"pair_connectivity"}}
0082
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_int
full_scene
Are living_room_0 and utility_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__living_room_0__utility_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png"...
{"floor_name":null,"question_index":3,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_003","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__living_room_0__utility_room_0","case_type":"pair_connectivity"}}
0083
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_int
full_scene
Are living_room_0 and living_room_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__living_room_0__living_room_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png",...
{"floor_name":null,"question_index":5,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_005","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__living_room_0__living_room_1","case_type":"pair_connectivity"}}
0084
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_0_int
full_scene
Are kitchen_0 and living_room_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__kitchen_0__living_room_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","pat...
{"floor_name":null,"question_index":6,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_006","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__kitchen_0__living_room_1","case_type":"pair_connectivity"}}
0085
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_1_int
full_scene
Are closet_1 and closet_2 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__closet_1__closet_2__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","pair_conn...
{"floor_name":null,"question_index":1,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_001","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__closet_1__closet_2","case_type":"pair_connectivity"}}
0086
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_1_int
full_scene
Are bathroom_1 and television_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_1__television_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png"...
{"floor_name":null,"question_index":2,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_002","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_1__television_room_0","case_type":"pair_connectivity"}}
0087
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_1_int
full_scene
Are bathroom_0 and childs_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__childs_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","pair_connectivity__bathroom_0__childs_room...
{"floor_name":null,"question_index":4,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_004","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__childs_room_0","case_type":"pair_connectivity"}}
0088
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_1_int
full_scene
Are bathroom_0 and closet_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__closet_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","pair_connectivity__bathroom_0__closet_1.png"]
{"floor_name":null,"question_index":5,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_005","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__closet_1","case_type":"pair_connectivity"}}
0089
Cognitive Mapping
Connectivity
cognitivemap
Beechwood_1_int
full_scene
Are bathroom_1 and closet_2 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_1__closet_2__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","path_vi...
{"floor_name":null,"question_index":6,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_006","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_1__closet_2","case_type":"pair_connectivity"}}
0090
Cognitive Mapping
Connectivity
cognitivemap
Benevolence_1_int
full_scene
Are kitchen_0 and living_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__kitchen_0__living_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","pair_connectivity__kitchen_0__living_room_0...
{"floor_name":null,"question_index":3,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_003","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__kitchen_0__living_room_0","case_type":"pair_connectivity"}}
0091
Cognitive Mapping
Connectivity
cognitivemap
Benevolence_1_int
full_scene
Are dining_room_0 and kitchen_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__dining_room_0__kitchen_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","pair_connectivity__dining_room_0__kitchen_0.png"]
{"floor_name":null,"question_index":7,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_007","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__dining_room_0__kitchen_0","case_type":"pair_connectivity"}}
0092
Cognitive Mapping
Connectivity
cognitivemap
Merom_0_garden
full_scene
Are playroom_0 and sauna_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__playroom_0__sauna_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","path_vie...
{"floor_name":null,"question_index":4,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_004","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__playroom_0__sauna_0","case_type":"pair_connectivity"}}
0093
Cognitive Mapping
Connectivity
cognitivemap
Merom_0_int
full_scene
Are playroom_0 and utility_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__playroom_0__utility_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","pair_connectivity__playroom_0__utility_room_0.png"]
{"floor_name":null,"question_index":2,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_002","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__playroom_0__utility_room_0","case_type":"pair_connectivity"}}
0094
Cognitive Mapping
Connectivity
cognitivemap
Pomaria_1_int
full_scene
Are corridor_0 and pantry_room_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__corridor_0__pantry_room_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","pair_connectivity__corridor_0__pantry_room_0.png"]
{"floor_name":null,"question_index":5,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_005","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__corridor_0__pantry_room_0","case_type":"pair_connectivity"}}
0095
Cognitive Mapping
Connectivity
cognitivemap
Rs_int
full_scene
Are entryway_0 and kitchen_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__entryway_0__kitchen_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","pair_connectivity__entryway_0__kitchen_0.png"]
{"floor_name":null,"question_index":3,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_003","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__entryway_0__kitchen_0","case_type":"pair_connectivity"}}
0096
Cognitive Mapping
Connectivity
cognitivemap
Wainscott_0_garden
full_scene
Are bathroom_0 and storage_room_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__storage_room_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","pair_connectivity__ba...
{"floor_name":null,"question_index":3,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_003","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__storage_room_1","case_type":"pair_connectivity"}}
0097
Cognitive Mapping
Connectivity
cognitivemap
Wainscott_0_garden
full_scene
Are kitchen_0 and storage_room_1 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__kitchen_0__storage_room_1__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","pa...
{"floor_name":null,"question_index":6,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_006","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__kitchen_0__storage_room_1","case_type":"pair_connectivity"}}
0098
Cognitive Mapping
Connectivity
cognitivemap
grocery_store_half_stocked
full_scene
Are bathroom_0 and grocery_store_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__grocery_store_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","...
{"floor_name":null,"question_index":0,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_000","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__grocery_store_0","case_type":"pair_connectivity"}}
0099
Cognitive Mapping
Connectivity
cognitivemap
grocery_store_half_stocked
full_scene
Are corridor_0 and grocery_store_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__corridor_0__grocery_store_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","...
{"floor_name":null,"question_index":1,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_001","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__corridor_0__grocery_store_0","case_type":"pair_connectivity"}}
0100
Cognitive Mapping
Connectivity
cognitivemap
grocery_store_half_stocked
full_scene
Are bathroom_0 and corridor_0 connected?
Yes
choice
["Yes","No"]
["pair_connectivity__bathroom_0__corridor_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","pair_connectivity__bathroom_0__corridor_0.png"]
{"floor_name":null,"question_index":2,"task_family":"Topological Connectivity","task_type":"pair_connectivity","question_id":"Topological Connectivity/q_002","seed":1,"question_data":{"task_type":"pair_connectivity","case_id":"pair_connectivity__bathroom_0__corridor_0","case_type":"pair_connectivity"}}
End of preview. Expand in Data Studio

BEHAVIOR ESI-Bench

BEHAVIOR ESI-Bench is a question dataset for evaluating embodied spatial intelligence across indoor scenes, object arrangements, physical reasoning, temporal understanding, and active exploration tasks.

Each row is one question instance. The table is intentionally flattened for Hugging Face Dataset Viewer and Croissant compatibility.

Dataset Metadata

Schema 

id
big_task
small_task
runner_task
scene
room
question
answer
answer_type
options_json
image_paths_json
metadata_json

options_json, image_paths_json, and metadata_json are JSON-encoded strings. They can be decoded by downstream users when structured fields are needed.

Task Taxonomy

The dataset follows the ESI-Bench table hierarchy:

Action Sequencing
Cognitive Mapping
Enumerative Perception
Metric Comparison
Perceptual Grounding
Physical Dynamics
Physical Structure
Spatial Relations
Specular Reflection
Temporal Understanding

The small_task column stores the corresponding subtask, and runner_task stores the internal task module name used by the original BEHAVIOR active-exploration code.

Citation

Use the following citation string when referencing this dataset:

ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop. ESI-Bench dataset, 2026. https://huggingface.co/datasets/ESI-Bench/esi-bench

Croissant

Hugging Face automatically generates Croissant metadata from the Dataset Viewer once this dataset is processed. The Croissant JSON-LD endpoint is:

https://huggingface.co/api/datasets/ESI-Bench/esi-bench/croissant
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Total file size:
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