EvanSirius/leap-agibot-processed · Datasets at Hugging Face

messages listlengths 1 1	target dict
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-707864.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cloth on the table with right arm. 2) Wipe the stains on microwave oven clean with right arm. 3) Place the cloth on the table with right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-727259.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the hanger hanging on white hanger with the right arm. 2) Remove the light-colored shorts from the hanger with both arms. 3) Place the removed light-colored shorts into the basket with the left arm. 4) Hang the held hanger back on white hanger with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/388-691881.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the freezer door. 2) Take small glutinous rice balls. 3) Place the held small glutinous rice balls into the shopping cart. 4) Retrieve hot pot sausage. 5) Place the held hot pot sausage into the shopping cart. 6) Close the freezer door." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-739513.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of green shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of green shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/591-865838.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grab the curtain tie with the left arm. 2) Grab the curtain tie with the right arm. 3) Cooperatively untie the curtain ties with both hands. 4) Grab the curtain with right arm. 5) Rotate towards right and move the curtain. 6) Release the curtain with right arm. 7) Turn to face the curtains with left." ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/541-772978.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Wipe the toilet with a held cloth. 2) Carry a cloth forward to the water tank. 3) Wipe the toilet with the held cloth.. Requires object transportation and coordination." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/480-709716.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the whole wheat toast from the front slot with the right arm. 2) Place the held whole wheat toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the whole wheat toast in the plate with the right arm. 5) Pick up...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/475-758665.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the steam iron on the right side of the right arm. 2) Stretch the left sleeve to the left hem of the garment. 3) Press the left side of the garment with the steam iron held in the right hand. 4) Release the garment gripped by the left arm. 5) Stretch the left arm to the bottom seam of the garment....
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/709-881074.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the alcohol on the table with the left arm. 2) Place the picked-up alcohol in the medicine box with the left arm. 3) Lift the medicine box divider from the table with the left arm. 4) Place the raised medicine box divider in the medicine box with the left arm. 5) Pick up the gauze bandage on th...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/378-679153.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Coordinate arms to place the tray on the counter. 2) Pick up the fork on the table. 3) Place the held fork onto the dining plate on the table. 4) Pick up the bowl on the table. 5) Place the bowl on the plate on the counter. 6) Pick up the plate on the table. 7) Stack the held plate onto the bowl in the...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/465-741611.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the washing machine door with both arms. 2) Move forward a bit closer to the washing machine. 3) Pick up short sleeve from the laundry basket with the right arm. 4) Place the held short sleeve into the washing machine with the right arm. 5) Pick up the shorts from the edge of the laundry basket wi...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/510-757889.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Spread the irregularly placed cloths on the platform surface with both hands. 2) Grasp the lower left and right corners of the cloth with both hands and fold it upwards. 3) Grasp the cloth with both hands and fold it from right to left. 4) Pick up the folded cloth with left arm. 5) Place the folded clo...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/781-904552.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the orange juice on the table with the right arm. 2) Hand the picked-up orange juice to the guest." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-675967.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Smooth out a messy light blue denim shorts with both arms and spread it flat." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-702822.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cloth on the table with left arm. 2) Wipe the stains on microwave oven clean with left arm. 3) Place the cloth on the table with left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/540-865856.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the remote control from the table with left arm. 2) Aim the held remote at the TV with left arm. 3) Press the switch button of the remote held by right arm with left arm. 4) Place the held remote control back on the table with left arm.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/732-887400.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Roll the dough horizontally from left to right twice with both hands. 2) Adjust the dough position with the left arm. 3) Roll the dough horizontally from right to left twice into a circular shape with both hands. 4) Place the picked-up rolling pin on the plate on the table with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/425-779115.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the spoon in the bowl with the right arm. 2) Scoop a spoonful of oatmeal with the held spoon in the right arm. 3) Pour the held oatmeal from the spoon into the bowl with the right arm. 4) Scoop a spoonful of oatmeal with the held spoon in the right arm. 5) Pour the oatmeal from the held spoon i...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/453-717021.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the whole wheat toast from the front slot with the right arm. 2) Place the held whole wheat toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the whole wheat toast in the dining plate with the right arm. 5) ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/722-891066.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the small bottle mineral water on the table with the left arm. 2) Tighten the bottle cap of the held water bottle with both arms. 3) Tighten the bottle cap of the held water bottle with both arms. 4) Tighten the bottle cap of the held water bottle with both arms. 5) Tighten the bottle cap of the h...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/480-777997.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the plain toast from the front slot with the right arm. 2) Place the held plain toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the plain toast in the plate with the right arm. 5) Pick up the salad dressin...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/602-825644.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the corn-flavored countryside puffs from the restocking box with the right arm. 2) Place the held corn-flavored countryside puffs on the shelf at the position with corn-flavored countryside puffs using the right arm. 3) Pick up the corn-flavored countryside puffs from the restocking box with th...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/622-842306.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the food container on the table with the right arm. 2) Grasp the packing bag on the table with the left arm and bring it closer to the right arm holding the packing box. 3) Place the held food container in the container with the right arm. 4) Pick up the seasoning box containing spices on the t...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/363-788313.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grip the drawer handle with left arm. 2) Open the drawer with left arm. 3) Carry the folded clothes towards the open drawer with right arm. 4) Place the held clothes in the drawer with right arm. 5) Move backward away from the drawer. 6) Close the drawer with both arms." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-713221.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cloth on the table with left arm. 2) Wipe the stains on microwave oven clean with left arm. 3) Place the cloth on the table with left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/751-893954.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Cut the dough into small pieces with a knife using both hands. 2) Cut the dough into small pieces with a knife using both hands. 3) Cut the dough into small pieces with a knife using both hands. 4) Cut the dough into small pieces with a knife using both hands. 5) Cut the dough into small pieces with a ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/424-703950.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the lid of square trash bin with the right arm. 2) Lift the right arm with peel. 3) Throw the peel held in the right arm into the square trash bin. 4) Lift the right arm with paper ball. 5) Throw the paper ball held in the right arm into the square trash bin. 6) Lift the left arm with outer packag...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/596-842850.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Press the lid-opening button with the left arm to open the rice cooker lid. 2) Lift the rice cooker inner pot containing small bag of wuchang rice with the right arm. 3) Place the held rice cooker inner pot into the rice cooker inner pot slot with the right arm. 4) Close the rice cooker lid with the ri...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/354-671689.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Retrieve from the shelf. 2) Place the held longyan peanuts into the shopping cart." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/599-822484.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts with both hands and fold them over the upper pant leg and waistband. 2) Grab the waistband of light blue denim shorts with both hands and fold it down to the pant leg." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/498-838660.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pull out the material box containing red beans with the right arm. 2) Hold the cup with the left arm and approach the material box containing red beans. 3) Pick up the spoon from the material box containing red beans with the right arm. 4) Scoop a spoonful of red beans from the container holding red be...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/698-873015.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pull open the box placed at the top right corner of the desktop storage container with right arm. 2) Pick up the pink tea bag in the transparent tea bag box with right arm. 3) Place the picked up pink tea bag in the box at the upper right corner of the storage container with right arm. 4) Push the pull...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/520-771917.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of light gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of light gray shorts with both hands and fold it to the leg light-colored bed sheets.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-788649.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 2, column 3 with the right arm.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/464-717264.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the lid of the tissue holder on the wall with the right arm. 2) Retrieve the empty roll from the tissue holder on the wall with the right arm. 3) Throw the held empty toilet paper roll into the trash bin with the right arm. 4) Pass the new roll of paper with both hands. 5) Hang the held new roll o...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-915424.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the stamp from the ink pad on the table with the left arm. 2) Stamp the document on the table with the stamp in hand using the left arm. 3) Place the picked-up stamp into the inkpad on the table with the left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/440-734975.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the steam iron on the right side of the right arm. 2) Stretch the left sleeve to the left hem of the garment. 3) Press the left side of the garment with the steam iron held in the right hand. 4) Release the garment held by the left arm. 5) Stretch the left arm to the bottom seam of the garment. 6)...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/392-682346.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the object on the table with the left arm. 2) Empty the water from the gray water bottle held in the left arm. 3) Place the gray water bottle held in the left arm under the faucet. 4) Turn on the faucet with the right arm. 5) Turn off the faucet with the right arm. 6) Grab the cup brush from the s...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-781001.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 3, column 3 with the right arm.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/619-839865.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cylinder building block on the table with the right arm. 2) Place the cylinder building block in the plastic storage bin with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/660-892949.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Left arm picks up the object on the table. 2) Place the picked-up alcohol in the medicine cabinet with the left arm. 3) Lift the divider of the medicine box on the table with your left arm. 4) Place the picked-up medicine box partition inside the medicine box with the left arm. 5) Grab the clear packag...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/410-653043.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the left arm with tea-colored kettle. 2) Pour the water from the held tea-colored kettle into the nearby cup. 3) Place the tea-colored kettle held in the left arm back on the table." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/732-909909.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Roll the dough horizontally from left to right twice with both hands. 2) Adjust the dough position with the left arm. 3) Roll the dough horizontally from right to left twice into a circular shape with both hands. 4) Place the picked-up rolling pin on the plate on the table with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/544-796905.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the light-colored wooden spatula in the sink with left arm. 2) Place the held light-colored wooden spatula under the faucet with left arm. 3) Turn on the faucet with right arm. 4) Rinse the held light-colored wooden spatula under the faucet with left arm. 5) Pass the light-colored wooden spatul...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/465-779183.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the washing machine door with both arms. 2) Move forward a bit closer to the washing machine. 3) Pick up short sleeve from the laundry basket with the right arm. 4) Place the held short sleeve into the washing machine with the right arm. 5) Pick up the shorts from the edge of the laundry basket wi...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/591-862731.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grab the curtain tie with the left arm. 2) Grab the curtain tie with the right arm. 3) Cooperatively untie the curtain ties with both hands. 4) Grab the curtain with right arm. 5) Rotate towards right and move the curtain. 6) Release the curtain with right arm. 7) Turn to face the curtains with left." ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-692011.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Smooth out a messy green shorts with both arms and spread it flat." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/535-796513.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the pink hair dryer on the table,. 2) Pass the hairdryer with both arms. 3) Hang the held pink hair dryer onto the bracket.. Requires precise placement and coordination." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/368-692381.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the oil brush from the dish with the right arm. 2) Brush the baking pan with the oil brush held in the right arm. 3) Place the oil brush back into the oil dish. 4) Grasp the seasoning bottle with the right arm. 5) Pour the seasoning held in the right arm onto the corn flakes on the baking tray. 6...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/369-770012.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the washing machine door with both arms. 2) Move forward slightly to approach the washing machine. 3) Retrieve a short sleeve from the washing machine with the right arm. 4) Place the held short sleeve into the laundry basket with the right arm. 5) Retrieve a shorts from the washing machine with t...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/692-908831.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grab the pull cord with the left arm. 2) Pull down the curtain cord with the left arm. 3) Grab the pull cord with the right arm. 4) Release the curtain cord with the left arm. 5) Pull the curtain cord with the right arm. 6) Grab the pull cord with the left arm. 7) Release the curtain cord with the righ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/433-749443.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the spoon with the right arm. 2) Lift the can of instant coffee on the table with the left arm. 3) Scoop a spoonful of instant coffee powder from the can held by the left arm with the spoon held by the right arm. 4) Pour the instant coffee powder into the cup with the spoon held in the right ar...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/512-785245.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the red english whiteboard eraser from the whiteboard eraser holder with the right arm. 2) Use the held red english whiteboard eraser to clean the red whiteboard marker marks on the whiteboard with the right arm. 3) Place the held red english whiteboard eraser back on the whiteboard eraser rack...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-742207.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of gray shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/725-875687.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Press the metal detector's switch button in the right hand with the left arm. 2) Scan the person's right arm with the metal detector held in the right arm while turning. 3) Scan the left arm with the metal detector held in the right arm while turning. 4) Turn around until the person appears in the cent...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/369-793060.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the washing machine door with both arms. 2) Move forward slightly to approach the washing machine. 3) Retrieve a shorts from the washing machine with the right arm. 4) Place the held shorts into the laundry basket with the right arm. 5) Retrieve a short sleeve from the washing machine with the rig...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/414-675663.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger. 2) Grasp the collar with the left arm and lift the garment. 3) Hang the clothes held in the left arm on the left side of wooden clothes hanger. 4) Grasp the left arm with the left hand. 5) Release the ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/508-755355.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the zebra print canvas bag on the desktop with the left arm. 2) Pick up hand sanitizer gel from the desktop with the right arm. 3) Place the picked-up hand sanitizer gel into the zebra print canvas bag on the desktop with the right arm. 4) Pick up the children's moisturizing oil from the desktop w...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/520-768332.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of light blue denim shorts with both hands and fold it to the leg pale yellow bed sheet.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/558-788901.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the kettle with the left arm. 2) Pour the water from the held transparent teapot into the nearby cup. 3) Place the transparent teapot held in the left arm back on the table.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/619-839841.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cylinder building block on the table with the right arm. 2) Place the cylinder building block in the plastic storage bin with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-734030.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the hanger hanging on white hanger with the right arm. 2) Remove the black long-sleeve from the hanger with both arms. 3) Place the removed black long-sleeve into the basket with the left arm. 4) Hang the held hanger back on white hanger with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/533-873567.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pull the curtain close to right arm with right arm. 2) Draw the curtains with right arm. 3) Pull the curtain near left arm with left arm. 4) Open the curtains with left arm.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/392-679805.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the object on the table with the left arm. 2) Empty the water from the water cup held in the left arm. 3) Place the water cup held in the left arm under the faucet. 4) Turn on the faucet with the right arm. 5) Turn off the faucet with the right arm. 6) Grab the cup brush from the storage box on th...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-721437.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of blue sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of blue sports shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/541-774609.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Wipe the toilet with a held cloth. 2) Carry a cloth forward to the water tank. 3) Wipe the toilet with the held cloth.. Requires object transportation and coordination." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/599-823764.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts with both hands and fold them over the upper pant leg and waistband. 2) Grab the waistband of light blue denim shorts with both hands and fold it down to the pant leg." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/782-916920.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the used milk tea cup on the table with left arm. 2) Place the picked-up milk tea cup into the residual container on the cart with left arm. 3) Pick up the used fast food container on the table with right arm. 4) Place the picked-up used fast food container into the collection basin on the cart...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-758658.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of gray shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-800665.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 2, column 1 with the right arm.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/675-888418.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the straw on the milk tea cup with right arm. 2) Grasp the milk tea cup on the table with left arm. 3) Insert the picked-up straw into the milk tea cup with right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-728201.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the hanger hanging on black hanger with the right arm. 2) Remove the light gray shorts from the hanger with both arms. 3) Place the removed light gray shorts into the basket with the left arm. 4) Hang the held hanger back on black hanger with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/474-756463.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the red plum blossom on the table with right arm. 2) Insert the held red plum blossom into the transparent patterned vase on the table with right arm. 3) Pick up the red plum blossom on the table with right arm. 4) Insert the held red plum blossom into the transparent patterned vase on the tabl...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/692-922991.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grab the pull cord with the left arm. 2) Pull down the curtain cord with the left arm. 3) Grab the pull cord with the right arm. 4) Release the curtain cord with the left arm. 5) Pull the curtain cord with the right arm. 6) Grab the pull cord with the left arm. 7) Release the curtain cord with the righ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-693382.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Smooth out a messy light blue denim shorts with both arms and spread it flat." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-670586.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of beige shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-747762.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of blue sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of blue sports shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/428-733695.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pull open the drawer with the left arm. 2) Pick up the blue cream on the table with the right arm. 3) Place the held blue cream in the drawer with the right arm. 4) Lift the rubik's cube on the table with the left arm. 5) Place the rubik's cube held in the left arm into the drawer. 6) Pick up the hand ...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/508-755900.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Open the zebra print canvas bag on the desktop with the left arm. 2) Pick up hand sanitizer gel from the desktop with the right arm. 3) Place the picked-up hand sanitizer gel into the zebra print canvas bag on the desktop with the right arm. 4) Pick up the children's moisturizing oil from the desktop w...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/593-802728.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the pomegranate from the filter basket with the left arm. 2) Place the held pomegranate into blue fruit bowl with the left arm. 3) Pick up the persimmon from the draining basket with the left arm. 4) Place the held persimmon into blue fruit bowl with the left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-907939.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the stamp from the ink pad on the table with the right arm. 2) Stamp the document on the table with the stamp in hand using the right arm. 3) Place the picked-up stamp into the inkpad on the table with the right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-786094.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of green shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-916210.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the stamp from the ink pad on the table with the left arm. 2) Stamp the document on the table with the stamp in hand using the left arm. 3) Place the picked-up stamp into the inkpad on the table with the left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/384-685331.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Lift the horizontally placed book on the shelf with the right arm. 2) Push aside the books on the shelf with the left arm. 3) Insert the book held in the right arm into the gap cleared by the left arm on the shelf. 4) Push the misplaced book on the shelf to the end with your right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/483-729445.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the dark black remote control on the table with the right arm. 2) Place the picked-up dark black remote control in the storage box on the table with the right arm. 3) Pick up the silver remote control on the table with the left arm. 4) Pass the silver remote control with both hands. 5) Place th...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-708021.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the cloth on the table with right arm. 2) Wipe the stains on microwave oven clean with right arm. 3) Place the cloth on the table with right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-794860.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of brown shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/561-814435.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Spread a messy light blue denim shorts flat with both arms. 2) Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband of pure white bed sheets. 3) Grasp the waistband of light blue denim shorts with both hands and fold it down to the pant l...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/711-898938.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Move the floor mopping robot forward to the nearest water stain using right arm. 2) Clean the water stain with the floor mopping robot back and forth twice using right arm. 3) Move the floor mopping robot forward to approach the nearest water stain using right arm. 4) Clean the water stain with the flo...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/377-675830.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the air column film outside the carton. 2) Place the air column film into the carton. 3) Pick up camera tripod with left arm. 4) Place the held camera tripod into the carton. 5) Pick up the air column film outside the cardboard box. 6) Place the air column film into the carton on camera tripod....
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/535-792112.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the green hair dryer on the table,. 2) Pass the hairdryer with both arms. 3) Hang the held green hair dryer onto the bracket.. Requires precise placement and coordination." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/478-718788.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Left arm picks up the cloth on the washstand. 2) Wipe the mirror on the cabinet with the left arm. 3) Pass the held cloth with both hands. 4) Wipe the cabinet door on the mirror cabinet with the right arm. 5) Pass the held cloth with both hands. 6) Place the held cloth on the washstand with the left ar...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/676-880506.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the gray power bank on the table with the left arm. 2) Unplug the charging cable on gray power bank with the right arm. 3) Place the held gray power bank on the table with the left arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/731-884556.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Hand the held packaged milk tea to the customer with both hands. 2) Lower the left arm while waving the right arm (three times)." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/433-760182.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the spoon with the right arm. 2) Lift the can of instant coffee on the table with the left arm. 3) Scoop a spoonful of instant coffee powder from the can held by the left arm with the spoon held by the right arm. 4) Pour the instant coffee powder into the cup with the spoon held in the right ar...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/554-816944.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Carry the held pink vacuum cleaner forward to approach the nearest trash with left arm. 2) Use the pink vacuum cleaner to vacuum the garbage on the floor with left arm. 3) Carry the held pink vacuum cleaner forward to approach the nearest trash with left arm. 4) Use pink vacuum cleaner to vacuum the ga...
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-784476.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of denim shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/600-842380.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the key on the cabinet with left arm. 2) Hang the key on the wall hook with left arm. 3) Pick up the green tissue pack on the cabinet with right arm. 4) Place the bag into brown deer storage box with right arm." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-731240.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Grasp the lower pant leg and waistband of black sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of black sports shorts with both hands and fold it down to the legs." }
[ { "role": "user", "content": [ { "type": "image", "image": "data/images/452-719295.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...	{ "steps": "1) Pick up the lemon slice from the jar on the countertop with the right arm. 2) Throw the held lemon slice into the cup with the right arm. 3) Pick up the white teapot on the countertop with the left arm. 4) Pour the water from the held white teapot into the cup on the countertop with the left arm. 5) Pl...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-707864.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cloth on the table with right arm. 2) Wipe the stains on microwave oven clean with right arm. 3) Place the cloth on the table with right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-727259.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the hanger hanging on white hanger with the right arm. 2) Remove the light-colored shorts from the hanger with both arms. 3) Place the removed light-colored shorts into the basket with the left arm. 4) Hang the held hanger back on white hanger with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/388-691881.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the freezer door. 2) Take small glutinous rice balls. 3) Place the held small glutinous rice balls into the shopping cart. 4) Retrieve hot pot sausage. 5) Place the held hot pot sausage into the shopping cart. 6) Close the freezer door." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-739513.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of green shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of green shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/591-865838.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grab the curtain tie with the left arm. 2) Grab the curtain tie with the right arm. 3) Cooperatively untie the curtain ties with both hands. 4) Grab the curtain with right arm. 5) Rotate towards right and move the curtain. 6) Release the curtain with right arm. 7) Turn to face the curtains with left." ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/541-772978.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Wipe the toilet with a held cloth. 2) Carry a cloth forward to the water tank. 3) Wipe the toilet with the held cloth.. Requires object transportation and coordination." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/480-709716.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the whole wheat toast from the front slot with the right arm. 2) Place the held whole wheat toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the whole wheat toast in the plate with the right arm. 5) Pick up...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/475-758665.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the steam iron on the right side of the right arm. 2) Stretch the left sleeve to the left hem of the garment. 3) Press the left side of the garment with the steam iron held in the right hand. 4) Release the garment gripped by the left arm. 5) Stretch the left arm to the bottom seam of the garment....

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/709-881074.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the alcohol on the table with the left arm. 2) Place the picked-up alcohol in the medicine box with the left arm. 3) Lift the medicine box divider from the table with the left arm. 4) Place the raised medicine box divider in the medicine box with the left arm. 5) Pick up the gauze bandage on th...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/378-679153.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Coordinate arms to place the tray on the counter. 2) Pick up the fork on the table. 3) Place the held fork onto the dining plate on the table. 4) Pick up the bowl on the table. 5) Place the bowl on the plate on the counter. 6) Pick up the plate on the table. 7) Stack the held plate onto the bowl in the...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/465-741611.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the washing machine door with both arms. 2) Move forward a bit closer to the washing machine. 3) Pick up short sleeve from the laundry basket with the right arm. 4) Place the held short sleeve into the washing machine with the right arm. 5) Pick up the shorts from the edge of the laundry basket wi...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/510-757889.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Spread the irregularly placed cloths on the platform surface with both hands. 2) Grasp the lower left and right corners of the cloth with both hands and fold it upwards. 3) Grasp the cloth with both hands and fold it from right to left. 4) Pick up the folded cloth with left arm. 5) Place the folded clo...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/781-904552.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the orange juice on the table with the right arm. 2) Hand the picked-up orange juice to the guest." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-675967.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Smooth out a messy light blue denim shorts with both arms and spread it flat." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-702822.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cloth on the table with left arm. 2) Wipe the stains on microwave oven clean with left arm. 3) Place the cloth on the table with left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/540-865856.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the remote control from the table with left arm. 2) Aim the held remote at the TV with left arm. 3) Press the switch button of the remote held by right arm with left arm. 4) Place the held remote control back on the table with left arm.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/732-887400.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Roll the dough horizontally from left to right twice with both hands. 2) Adjust the dough position with the left arm. 3) Roll the dough horizontally from right to left twice into a circular shape with both hands. 4) Place the picked-up rolling pin on the plate on the table with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/425-779115.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the spoon in the bowl with the right arm. 2) Scoop a spoonful of oatmeal with the held spoon in the right arm. 3) Pour the held oatmeal from the spoon into the bowl with the right arm. 4) Scoop a spoonful of oatmeal with the held spoon in the right arm. 5) Pour the oatmeal from the held spoon i...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/453-717021.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the whole wheat toast from the front slot with the right arm. 2) Place the held whole wheat toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the whole wheat toast in the dining plate with the right arm. 5) ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/722-891066.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the small bottle mineral water on the table with the left arm. 2) Tighten the bottle cap of the held water bottle with both arms. 3) Tighten the bottle cap of the held water bottle with both arms. 4) Tighten the bottle cap of the held water bottle with both arms. 5) Tighten the bottle cap of the h...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/480-777997.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the plain toast from the front slot with the right arm. 2) Place the held plain toast into the meal tray with the right arm. 3) Pick up the meat slice from the plate with the right arm. 4) Place the held meat slice on the plain toast in the plate with the right arm. 5) Pick up the salad dressin...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/602-825644.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the corn-flavored countryside puffs from the restocking box with the right arm. 2) Place the held corn-flavored countryside puffs on the shelf at the position with corn-flavored countryside puffs using the right arm. 3) Pick up the corn-flavored countryside puffs from the restocking box with th...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/622-842306.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the food container on the table with the right arm. 2) Grasp the packing bag on the table with the left arm and bring it closer to the right arm holding the packing box. 3) Place the held food container in the container with the right arm. 4) Pick up the seasoning box containing spices on the t...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/363-788313.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grip the drawer handle with left arm. 2) Open the drawer with left arm. 3) Carry the folded clothes towards the open drawer with right arm. 4) Place the held clothes in the drawer with right arm. 5) Move backward away from the drawer. 6) Close the drawer with both arms." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-713221.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cloth on the table with left arm. 2) Wipe the stains on microwave oven clean with left arm. 3) Place the cloth on the table with left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/751-893954.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Cut the dough into small pieces with a knife using both hands. 2) Cut the dough into small pieces with a knife using both hands. 3) Cut the dough into small pieces with a knife using both hands. 4) Cut the dough into small pieces with a knife using both hands. 5) Cut the dough into small pieces with a ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/424-703950.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the lid of square trash bin with the right arm. 2) Lift the right arm with peel. 3) Throw the peel held in the right arm into the square trash bin. 4) Lift the right arm with paper ball. 5) Throw the paper ball held in the right arm into the square trash bin. 6) Lift the left arm with outer packag...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/596-842850.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Press the lid-opening button with the left arm to open the rice cooker lid. 2) Lift the rice cooker inner pot containing small bag of wuchang rice with the right arm. 3) Place the held rice cooker inner pot into the rice cooker inner pot slot with the right arm. 4) Close the rice cooker lid with the ri...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/354-671689.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Retrieve from the shelf. 2) Place the held longyan peanuts into the shopping cart." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/599-822484.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts with both hands and fold them over the upper pant leg and waistband. 2) Grab the waistband of light blue denim shorts with both hands and fold it down to the pant leg." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/498-838660.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pull out the material box containing red beans with the right arm. 2) Hold the cup with the left arm and approach the material box containing red beans. 3) Pick up the spoon from the material box containing red beans with the right arm. 4) Scoop a spoonful of red beans from the container holding red be...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/698-873015.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pull open the box placed at the top right corner of the desktop storage container with right arm. 2) Pick up the pink tea bag in the transparent tea bag box with right arm. 3) Place the picked up pink tea bag in the box at the upper right corner of the storage container with right arm. 4) Push the pull...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/520-771917.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of light gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of light gray shorts with both hands and fold it to the leg light-colored bed sheets.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-788649.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 2, column 3 with the right arm.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/464-717264.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the lid of the tissue holder on the wall with the right arm. 2) Retrieve the empty roll from the tissue holder on the wall with the right arm. 3) Throw the held empty toilet paper roll into the trash bin with the right arm. 4) Pass the new roll of paper with both hands. 5) Hang the held new roll o...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-915424.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the stamp from the ink pad on the table with the left arm. 2) Stamp the document on the table with the stamp in hand using the left arm. 3) Place the picked-up stamp into the inkpad on the table with the left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/440-734975.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the steam iron on the right side of the right arm. 2) Stretch the left sleeve to the left hem of the garment. 3) Press the left side of the garment with the steam iron held in the right hand. 4) Release the garment held by the left arm. 5) Stretch the left arm to the bottom seam of the garment. 6)...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/392-682346.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the object on the table with the left arm. 2) Empty the water from the gray water bottle held in the left arm. 3) Place the gray water bottle held in the left arm under the faucet. 4) Turn on the faucet with the right arm. 5) Turn off the faucet with the right arm. 6) Grab the cup brush from the s...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-781001.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 3, column 3 with the right arm.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/619-839865.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cylinder building block on the table with the right arm. 2) Place the cylinder building block in the plastic storage bin with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/660-892949.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Left arm picks up the object on the table. 2) Place the picked-up alcohol in the medicine cabinet with the left arm. 3) Lift the divider of the medicine box on the table with your left arm. 4) Place the picked-up medicine box partition inside the medicine box with the left arm. 5) Grab the clear packag...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/410-653043.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the left arm with tea-colored kettle. 2) Pour the water from the held tea-colored kettle into the nearby cup. 3) Place the tea-colored kettle held in the left arm back on the table." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/732-909909.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Roll the dough horizontally from left to right twice with both hands. 2) Adjust the dough position with the left arm. 3) Roll the dough horizontally from right to left twice into a circular shape with both hands. 4) Place the picked-up rolling pin on the plate on the table with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/544-796905.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the light-colored wooden spatula in the sink with left arm. 2) Place the held light-colored wooden spatula under the faucet with left arm. 3) Turn on the faucet with right arm. 4) Rinse the held light-colored wooden spatula under the faucet with left arm. 5) Pass the light-colored wooden spatul...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/465-779183.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the washing machine door with both arms. 2) Move forward a bit closer to the washing machine. 3) Pick up short sleeve from the laundry basket with the right arm. 4) Place the held short sleeve into the washing machine with the right arm. 5) Pick up the shorts from the edge of the laundry basket wi...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/591-862731.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grab the curtain tie with the left arm. 2) Grab the curtain tie with the right arm. 3) Cooperatively untie the curtain ties with both hands. 4) Grab the curtain with right arm. 5) Rotate towards right and move the curtain. 6) Release the curtain with right arm. 7) Turn to face the curtains with left." ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-692011.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Smooth out a messy green shorts with both arms and spread it flat." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/535-796513.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the pink hair dryer on the table,. 2) Pass the hairdryer with both arms. 3) Hang the held pink hair dryer onto the bracket.. Requires precise placement and coordination." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/368-692381.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the oil brush from the dish with the right arm. 2) Brush the baking pan with the oil brush held in the right arm. 3) Place the oil brush back into the oil dish. 4) Grasp the seasoning bottle with the right arm. 5) Pour the seasoning held in the right arm onto the corn flakes on the baking tray. 6...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/369-770012.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the washing machine door with both arms. 2) Move forward slightly to approach the washing machine. 3) Retrieve a short sleeve from the washing machine with the right arm. 4) Place the held short sleeve into the laundry basket with the right arm. 5) Retrieve a shorts from the washing machine with t...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/692-908831.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grab the pull cord with the left arm. 2) Pull down the curtain cord with the left arm. 3) Grab the pull cord with the right arm. 4) Release the curtain cord with the left arm. 5) Pull the curtain cord with the right arm. 6) Grab the pull cord with the left arm. 7) Release the curtain cord with the righ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/433-749443.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the spoon with the right arm. 2) Lift the can of instant coffee on the table with the left arm. 3) Scoop a spoonful of instant coffee powder from the can held by the left arm with the spoon held by the right arm. 4) Pour the instant coffee powder into the cup with the spoon held in the right ar...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/512-785245.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the red english whiteboard eraser from the whiteboard eraser holder with the right arm. 2) Use the held red english whiteboard eraser to clean the red whiteboard marker marks on the whiteboard with the right arm. 3) Place the held red english whiteboard eraser back on the whiteboard eraser rack...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-742207.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of gray shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/725-875687.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Press the metal detector's switch button in the right hand with the left arm. 2) Scan the person's right arm with the metal detector held in the right arm while turning. 3) Scan the left arm with the metal detector held in the right arm while turning. 4) Turn around until the person appears in the cent...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/369-793060.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the washing machine door with both arms. 2) Move forward slightly to approach the washing machine. 3) Retrieve a shorts from the washing machine with the right arm. 4) Place the held shorts into the laundry basket with the right arm. 5) Retrieve a short sleeve from the washing machine with the rig...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/414-675663.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger. 2) Grasp the collar with the left arm and lift the garment. 3) Hang the clothes held in the left arm on the left side of wooden clothes hanger. 4) Grasp the left arm with the left hand. 5) Release the ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/508-755355.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the zebra print canvas bag on the desktop with the left arm. 2) Pick up hand sanitizer gel from the desktop with the right arm. 3) Place the picked-up hand sanitizer gel into the zebra print canvas bag on the desktop with the right arm. 4) Pick up the children's moisturizing oil from the desktop w...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/520-768332.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of light blue denim shorts with both hands and fold it to the leg pale yellow bed sheet.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/558-788901.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the kettle with the left arm. 2) Pour the water from the held transparent teapot into the nearby cup. 3) Place the transparent teapot held in the left arm back on the table.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/619-839841.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cylinder building block on the table with the right arm. 2) Place the cylinder building block in the plastic storage bin with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-734030.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the hanger hanging on white hanger with the right arm. 2) Remove the black long-sleeve from the hanger with both arms. 3) Place the removed black long-sleeve into the basket with the left arm. 4) Hang the held hanger back on white hanger with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/533-873567.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pull the curtain close to right arm with right arm. 2) Draw the curtains with right arm. 3) Pull the curtain near left arm with left arm. 4) Open the curtains with left arm.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/392-679805.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the object on the table with the left arm. 2) Empty the water from the water cup held in the left arm. 3) Place the water cup held in the left arm under the faucet. 4) Turn on the faucet with the right arm. 5) Turn off the faucet with the right arm. 6) Grab the cup brush from the storage box on th...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-721437.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of blue sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of blue sports shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/541-774609.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Wipe the toilet with a held cloth. 2) Carry a cloth forward to the water tank. 3) Wipe the toilet with the held cloth.. Requires object transportation and coordination." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/599-823764.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of light blue denim shorts with both hands and fold them over the upper pant leg and waistband. 2) Grab the waistband of light blue denim shorts with both hands and fold it down to the pant leg." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/782-916920.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the used milk tea cup on the table with left arm. 2) Place the picked-up milk tea cup into the residual container on the cart with left arm. 3) Pick up the used fast food container on the table with right arm. 4) Place the picked-up used fast food container into the collection basin on the cart...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-758658.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of gray shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of gray shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/532-800665.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the permanent magnet ingot from the table with the right arm. 2) Place the held permanent magnet ingot into row 2, column 1 with the right arm.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/675-888418.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the straw on the milk tea cup with right arm. 2) Grasp the milk tea cup on the table with left arm. 3) Insert the picked-up straw into the milk tea cup with right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/468-728201.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the hanger hanging on black hanger with the right arm. 2) Remove the light gray shorts from the hanger with both arms. 3) Place the removed light gray shorts into the basket with the left arm. 4) Hang the held hanger back on black hanger with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/474-756463.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the red plum blossom on the table with right arm. 2) Insert the held red plum blossom into the transparent patterned vase on the table with right arm. 3) Pick up the red plum blossom on the table with right arm. 4) Insert the held red plum blossom into the transparent patterned vase on the tabl...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/692-922991.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grab the pull cord with the left arm. 2) Pull down the curtain cord with the left arm. 3) Grab the pull cord with the right arm. 4) Release the curtain cord with the left arm. 5) Pull the curtain cord with the right arm. 6) Grab the pull cord with the left arm. 7) Release the curtain cord with the righ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/361-693382.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Smooth out a messy light blue denim shorts with both arms and spread it flat." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-670586.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of beige shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-747762.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of blue sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of blue sports shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/428-733695.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pull open the drawer with the left arm. 2) Pick up the blue cream on the table with the right arm. 3) Place the held blue cream in the drawer with the right arm. 4) Lift the rubik's cube on the table with the left arm. 5) Place the rubik's cube held in the left arm into the drawer. 6) Pick up the hand ...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/508-755900.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Open the zebra print canvas bag on the desktop with the left arm. 2) Pick up hand sanitizer gel from the desktop with the right arm. 3) Place the picked-up hand sanitizer gel into the zebra print canvas bag on the desktop with the right arm. 4) Pick up the children's moisturizing oil from the desktop w...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/593-802728.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the pomegranate from the filter basket with the left arm. 2) Place the held pomegranate into blue fruit bowl with the left arm. 3) Pick up the persimmon from the draining basket with the left arm. 4) Place the held persimmon into blue fruit bowl with the left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-907939.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the stamp from the ink pad on the table with the right arm. 2) Stamp the document on the table with the stamp in hand using the right arm. 3) Place the picked-up stamp into the inkpad on the table with the right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-786094.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of green shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/779-916210.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the stamp from the ink pad on the table with the left arm. 2) Stamp the document on the table with the stamp in hand using the left arm. 3) Place the picked-up stamp into the inkpad on the table with the left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/384-685331.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Lift the horizontally placed book on the shelf with the right arm. 2) Push aside the books on the shelf with the left arm. 3) Insert the book held in the right arm into the gap cleared by the left arm on the shelf. 4) Push the misplaced book on the shelf to the end with your right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/483-729445.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the dark black remote control on the table with the right arm. 2) Place the picked-up dark black remote control in the storage box on the table with the right arm. 3) Pick up the silver remote control on the table with the left arm. 4) Pass the silver remote control with both hands. 5) Place th...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/463-708021.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the cloth on the table with right arm. 2) Wipe the stains on microwave oven clean with right arm. 3) Place the cloth on the table with right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-794860.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of brown shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/561-814435.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Spread a messy light blue denim shorts flat with both arms. 2) Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband of pure white bed sheets. 3) Grasp the waistband of light blue denim shorts with both hands and fold it down to the pant l...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/711-898938.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Move the floor mopping robot forward to the nearest water stain using right arm. 2) Clean the water stain with the floor mopping robot back and forth twice using right arm. 3) Move the floor mopping robot forward to approach the nearest water stain using right arm. 4) Clean the water stain with the flo...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/377-675830.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the air column film outside the carton. 2) Place the air column film into the carton. 3) Pick up camera tripod with left arm. 4) Place the held camera tripod into the carton. 5) Pick up the air column film outside the cardboard box. 6) Place the air column film into the carton on camera tripod....

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/535-792112.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the green hair dryer on the table,. 2) Pass the hairdryer with both arms. 3) Hang the held green hair dryer onto the bracket.. Requires precise placement and coordination." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/478-718788.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Left arm picks up the cloth on the washstand. 2) Wipe the mirror on the cabinet with the left arm. 3) Pass the held cloth with both hands. 4) Wipe the cabinet door on the mirror cabinet with the right arm. 5) Pass the held cloth with both hands. 6) Place the held cloth on the washstand with the left ar...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/676-880506.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the gray power bank on the table with the left arm. 2) Unplug the charging cable on gray power bank with the right arm. 3) Place the held gray power bank on the table with the left arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/731-884556.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Hand the held packaged milk tea to the customer with both hands. 2) Lower the left arm while waving the right arm (three times)." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/433-760182.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the spoon with the right arm. 2) Lift the can of instant coffee on the table with the left arm. 3) Scoop a spoonful of instant coffee powder from the can held by the left arm with the spoon held by the right arm. 4) Pour the instant coffee powder into the cup with the spoon held in the right ar...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/554-816944.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Carry the held pink vacuum cleaner forward to approach the nearest trash with left arm. 2) Use the pink vacuum cleaner to vacuum the garbage on the floor with left arm. 3) Carry the held pink vacuum cleaner forward to approach the nearest trash with left arm. 4) Use pink vacuum cleaner to vacuum the ga...

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/555-784476.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of denim shorts with both arms and fold them over the upper pant leg and waistband. 2) Grasp the waistband of the shorts with both hands and fold it down to the legs.. " }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/600-842380.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the key on the cabinet with left arm. 2) Hang the key on the wall hook with left arm. 3) Pick up the green tissue pack on the cabinet with right arm. 4) Place the bag into brown deer storage box with right arm." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/362-731240.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Grasp the lower pant leg and waistband of black sports shorts and fold them over the upper pant leg and waistband. 2) Grasp the waistband of black sports shorts with both hands and fold it down to the legs." }

[ { "role": "user", "content": [ { "type": "image", "image": "data/images/452-719295.png", "image_id": "img1", "text": null }, { "type": "text", "image": null, "image_id": null, "text": "You are a task planning expert.\nPlease c...

{ "steps": "1) Pick up the lemon slice from the jar on the countertop with the right arm. 2) Throw the held lemon slice into the cup with the right arm. 3) Pick up the white teapot on the countertop with the left arm. 4) Pour the water from the held white teapot into the cup on the countertop with the left arm. 5) Pl...