Upload SpatialWorld benchmark data

data/ai2thor/dual/tasks/ai2thor03038/init.json

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+{
+  "scene": "FloorPlan22",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor03038/task.json

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+{
+  "task_id": "ai2thor03038",
+  "task_name": "Swap potato and lettuce",
+  "instruction": "Please put the potato in the refrigerator, and then take the lettuce out of the refrigerator and put it on the counter.Remember to close the fridge.",
+  "golden_actions": {
+    "steps": 18,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveLeft(0.5)",
+      "MoveAhead(0.5)",
+      "PickupObject(Potato)",
+      "RotateRight(90)",
+      "MoveAhead(1)",
+      "MoveRight(1)",
+      "MoveRight(0.5)",
+      "OpenObject(Fridge)",
+      "PutObject(Fridge)",
+      "PickupObject(Lettuce)",
+      "CloseObject(Fridge)",
+      "RotateLeft(90)",
+      "MoveAhead(1)",
+      "MoveLeft(1)",
+      "MoveAhead(0.5)",
+      "PutObject(CounterTop)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan22",
+  "target_object_types": [
+    "CounterTop",
+    "Fridge",
+    "Lettuce",
+    "Potato"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Potato",
+      "receptacle_type": "Fridge"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Lettuce",
+      "receptacle_type": "CounterTop"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please put the potato in the refrigerator, and then take the lettuce out of the refrigerator and put it on the counter.Remember to close the fridge."
+}

data/ai2thor/dual/tasks/ai2thor03044/init.json

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+{
+  "scene": "FloorPlan23",
+  "actions": [
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "OpenObject(Fridge)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "RotateLeft(90)",
+    "RotateLeft(90)",
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor03044/task.json

@@ -0,0 +1,41 @@
+{
+  "task_id": "ai2thor03044",
+  "task_name": "Close light and fridge",
+  "instruction": "I forgot to turn off the lights and close the refrigerator door when I left. Please close them.",
+  "golden_actions": {
+    "steps": 10,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "CloseObject(Fridge)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOff(LightSwitch)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan23",
+  "target_object_types": [
+    "Fridge",
+    "LightSwitch"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "LightSwitch",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I forgot to turn off the lights and close the refrigerator door when I left. Please close them."
+}

data/ai2thor/dual/tasks/ai2thor03054/init.json

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+{
+  "scene": "FloorPlan25",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor03054/task.json

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+{
+  "task_id": "ai2thor03054",
+  "task_name": "Bring bread outside and turn off kitchen lights",
+  "instruction": "I'm outside the kitchen. Please bring the bread outside and turn off the kitchen lights.",
+  "golden_actions": {
+    "steps": 12,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "PickupObject(Bread)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.5)",
+      "ToggleObjectOff(LightSwitch)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan25",
+  "target_object_types": [
+    "Bread",
+    "LightSwitch"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bread",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "LightSwitch",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm outside the kitchen. Please bring the bread outside and turn off the kitchen lights."
+}

data/ai2thor/dual/tasks/ai2thor03064/init.json

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+{
+  "scene": "FloorPlan27",
+  "actions": [
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "ToggleObjectOn(CoffeeMachine)",
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor03064/task.json

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+{
+  "task_id": "ai2thor03064",
+  "task_name": "Turn off coffee machine and kitchen light",
+  "instruction": "I forgot to turn off the coffee machine and the kitchen light. Go turn them off.",
+  "golden_actions": {
+    "steps": 8,
+    "actions": [
+      "ToggleObjectOff(CoffeeMachine)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "ToggleObjectOff(LightSwitch)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan27",
+  "target_object_types": [
+    "CoffeeMachine",
+    "LightSwitch"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CoffeeMachine",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "LightSwitch",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I forgot to turn off the coffee machine and the kitchen light. Go turn them off."
+}

data/ai2thor/dual/tasks/ai2thor03075/init.json

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+{
+  "scene": "FloorPlan30",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor03075/task.json

@@ -0,0 +1,44 @@
+{
+  "task_id": "ai2thor03075",
+  "task_name": "Dispose apple and get phone",
+  "instruction": "Please help me throw the apple into the trash can and turn on my phone.",
+  "golden_actions": {
+    "steps": 12,
+    "actions": [
+      "MoveAhead(0.25)",
+      "PickupObject(Apple)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(1.0)",
+      "MoveLeft(0.25)",
+      "MoveBack(0.25)",
+      "PutObject(GarbageCan)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "ToggleObjectOn(CellPhone)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan30",
+  "target_object_types": [
+    "Apple",
+    "CellPhone",
+    "GarbageCan"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Apple",
+      "receptacle_type": "GarbageCan",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please help me throw the apple into the trash can and turn on my phone."
+}

data/ai2thor/dual/tasks/ai2thor04039/init.json

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+{
+  "scene": "FloorPlan323",
+  "actions": [
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "LookDown",
+    "DirtyObject(Bowl)",
+    "MoveBack(0.25)",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor04039/task.json

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+{
+  "task_id": "ai2thor04039",
+  "task_name": "Wash bowl and make coffee",
+  "instruction": "I'm sleepy. Please wash the bowl in front of me and then fill it with a cup of coffee.",
+  "golden_actions": {
+    "steps": 3,
+    "actions": [
+      "CleanObject(Bowl)",
+      "FillObjectWithLiquid(Bowl, coffee)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan323",
+  "target_object_types": [
+    "Bowl"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bowl",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bowl",
+      "state": "isFilledWithLiquid",
+      "value": true,
+      "liquid": "coffee"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm sleepy. Please wash the bowl in front of me and then fill it with a cup of coffee."
+}

data/ai2thor/dual/tasks/ai2thor04046/init.json

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+{
+  "scene": "FloorPlan210",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor04046/task.json

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+{
+  "task_id": "ai2thor04046",
+  "task_name": "Enable laptop and TV",
+  "instruction": "I want to work on my laptop while watching TV. Please enable both.",
+  "golden_actions": {
+    "steps": 15,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(Laptop)",
+      "MoveBack(0.5)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOn(Television)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan210",
+  "target_object_types": [
+    "Laptop",
+    "Television"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to work on my laptop while watching TV. Please enable both."
+}

data/ai2thor/dual/tasks/ai2thor04108/task.json

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+{
+  "task_id": "ai2thor04108",
+  "task_name": "Turn on the computer and open the book",
+  "instruction": "I want to get up and work, please turn on the computer and open the book",
+  "golden_actions": {
+    "steps": 11,
+    "actions": [
+      "MoveRight(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "LookDown",
+      "ToggleObjectOn(Laptop)",
+      "MoveLeft(1.0)",
+      "MoveAhead(0.25)",
+      "OpenObject(Book)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan311",
+  "target_object_types": [
+    "Bed",
+    "CellPhone",
+    "Desk"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isOpen",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to get up and work, please turn on the computer and open the book."
+}

data/ai2thor/dual/tasks/ai2thor04109/init.json

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+{
+  "scene": "FloorPlan311",
+  "actions": [
+    "MoveAhead(0.5)",
+    "MoveAhead(0.5)",
+    "MoveLeft(0.5)",
+    "MoveLeft(0.5)",
+    "MoveAhead(0.5)",
+    "LookDown",
+    "DirtyObject(Bed)",
+    "RotateRight(90)",
+    "MoveAhead(0.5)",
+    "MoveAhead(0.5)",
+    "MoveAhead(0.5)",
+    "MoveAhead(0.5)",
+    "MoveAhead(0.5)",
+    "ToggleObjectOn(Television)",
+    "MoveLeft(0.5)",
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor04109/task.json

@@ -0,0 +1,37 @@
+{
+  "task_id": "ai2thor04109",
+  "task_name": "Make bed and turn off TV",
+  "instruction": "I'm getting ready for bed. Please make my bed and turn off the TV.",
+  "golden_actions": {
+    "steps": 6,
+    "actions": [
+      "ToggleObjectOff(Television)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1)",
+      "CleanObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan311",
+  "target_object_types": [
+    "Television",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready for bed. Please make my bed and turn off the TV."
+}

data/ai2thor/dual/tasks/ai2thor04110/init.json

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+{
+  "scene": "FloorPlan310",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor04110/task.json

@@ -0,0 +1,39 @@
+{
+  "task_id": "ai2thor04110",
+  "task_name": "Turn on phone and computer",
+  "instruction": "I need to get ready to work, please turn on my phone and computer.",
+  "golden_actions": {
+    "steps": 8,
+    "actions": [
+      "MoveRight(0.5)",
+      "MoveAhead(1)",
+      "MoveAhead(1)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(Laptop)",
+      "ToggleObjectOn(CellPhone)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan310",
+  "target_object_types": [
+    "Laptop",
+    "CellPhone"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to get ready to work, please turn on my phone and computer."
+}

data/ai2thor/dual/tasks/ai2thor04243/init.json

@@ -0,0 +1,10 @@
+{
+  "scene": "FloorPlan329",
+  "actions": [
+    "MoveBack(0.25)",
+    "LookDown",
+    "MoveLeft(0.5)",
+    "OpenObject(Book)",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor04243/task.json

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+{
+  "task_id": "ai2thor04243",
+  "task_name": "Close the book and turn off the light and the desk lamp.",
+  "instruction": "I am tired from reading. Please close the book, then turn off the light switch and the desk lamp.",
+  "golden_actions": {
+    "steps": 10,
+    "actions": [
+      "CloseObject(Book)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOff(LightSwitch)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.5)",
+      "MoveAhead(1)",
+      "MoveAhead(1)",
+      "ToggleObjectOff(DeskLamp)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan329",
+  "target_object_types": [
+    "Book",
+    "DeskLamp",
+    "LightSwitch"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isOpen",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "LightSwitch",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am tired from reading. Please close the book, then turn off the light switch and the desk lamp."
+}

data/ai2thor/dual/tasks/ai2thor05007/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan307",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05007/task.json

@@ -0,0 +1,43 @@
+{
+  "task_id": "ai2thor05007",
+  "task_name": "Turn off the desk lamp and pick up the book and place it on the bed",
+  "instruction": "It's time to power down, so please turn off the desk lamp and confirm it's really off and then pick up the book and place it on the bed.",
+  "golden_actions": {
+    "steps": 11,
+    "actions": [
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOff(DeskLamp)",
+      "PickupObject(Book)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PutObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan307",
+  "target_object_types": [
+    "DeskLamp",
+    "Bed",
+    "Book"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Book",
+      "receptacle_type": "Bed",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "field": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "It's time to power down, so please turn off the desk lamp and confirm it's really off and then pick up the book and place it on the bed."
+}

data/ai2thor/dual/tasks/ai2thor05022/init.json

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+{
+  "scene": "FloorPlan312",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05022/task.json

@@ -0,0 +1,39 @@
+{
+  "task_id": "ai2thor05022",
+  "task_name": "Clean the bed and turn on the laptop",
+  "instruction": "I need to tidy up, so please tidy up the bed by clearing any clutter and wiping it until it looks clean and then turn on the laptop and wait until you can tell it's powered on.",
+  "golden_actions": {
+    "steps": 8,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "CleanObject(Bed)",
+      "ToggleObjectOn(Laptop)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan312",
+  "target_object_types": [
+    "Bed",
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "field": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I need to tidy up, so please tidy up the bed by clearing any clutter and wiping it until it looks clean and then turn on the laptop and wait until you can tell it's powered on."
+}

data/ai2thor/dual/tasks/ai2thor05026/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan313",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05026/task.json

@@ -0,0 +1,41 @@
+{
+  "task_id": "ai2thor05026",
+  "task_name": "Fill the mug with coffee and clean the bed",
+  "instruction": "I'm doing some chores, so please put the laptop on the desk, then tidy up the bed and wiping it until it looks clean.",
+  "golden_actions": {
+    "steps": 9,
+    "actions": [
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "FillObjectWithLiquid(Mug,coffee)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "CleanObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan313",
+  "target_object_types": [
+    "Bed",
+    "Mug"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Mug",
+      "field": "isFilledWithLiquid",
+      "value": true,
+      "liquid": "coffee"
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I'm doing some chores, so please put the laptop on the desk, then tidy up the bed and wiping it until it looks clean."
+}

data/ai2thor/dual/tasks/ai2thor05033/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan315",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05033/task.json

@@ -0,0 +1,40 @@
+{
+  "task_id": "ai2thor05033",
+  "task_name": "Make the mirror dirty and fill the mug with water",
+  "instruction": "I'm preparing the scene, so please in the simulation, make the mirror dirty so its state changes to 'dirty' and then fill the mug with water until it shows it's filled, then keep it steady.",
+  "golden_actions": {
+    "steps": 7,
+    "actions": [
+      "MoveRight(0.5)",
+      "MoveAhead(0.25)",
+      "DirtyObject(Mirror)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "FillObjectWithLiquid(Mug)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan315",
+  "target_object_types": [
+    "Mirror",
+    "Mug",
+    "Water"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Mirror",
+      "field": "isDirty",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Mug",
+      "state": "isFilledWithLiquid",
+      "value": true,
+      "liquid": "Water"
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I'm preparing the scene, so please in the simulation, make the mirror dirty so its state changes to 'dirty' and then fill the mug with water until it shows it's filled, then keep it steady."
+}

data/ai2thor/dual/tasks/ai2thor05041/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan319",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05041/task.json

@@ -0,0 +1,38 @@
+{
+  "task_id": "ai2thor05041",
+  "task_name": "Turn on the cell phone and open the book",
+  "instruction": "To start the research, please power on the cell phone and open the book for me.",
+  "golden_actions": {
+    "steps": 5,
+    "actions": [
+      "MoveLeft(1.0)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOn(CellPhone)",
+      "OpenObject(Book)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan319",
+  "target_object_types": [
+    "Bed",
+    "Book",
+    "CellPhone",
+    "TeddyBear"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "field": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "field": "isOpen",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "To start the research, please power on the cell phone and open the book for me."
+}

data/ai2thor/dual/tasks/ai2thor05063/init.json

@@ -0,0 +1,13 @@
+{
+  "scene": "FloorPlan15",
+  "actions": [
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "DirtyObject(Pot)",
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05063/task.json

@@ -0,0 +1,36 @@
+{
+  "task_id": "ai2thor05063",
+  "task_name": "Clean the pot and slice the tomato",
+  "instruction": "The pot looks a bit dusty, so clean the pot and slice the tomato for the soup.",
+  "golden_actions": {
+    "steps": 5,
+    "actions": [
+      "CleanObject(Pot)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "SliceObject(Tomato)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan15",
+  "target_object_types": [
+    "Pot",
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Pot",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isSliced",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "The pot looks a bit dusty, so clean the pot and slice the tomato for the soup."
+}

data/ai2thor/dual/tasks/ai2thor05066/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan15",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05066/task.json

@@ -0,0 +1,29 @@
+{
+  "task_id": "ai2thor05066",
+  "task_name": "Pick up the pot",
+  "instruction": "I'm ready to start the stew, so please pick up the pot for me.",
+  "golden_actions": {
+    "steps": 4,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "PickupObject(Pot)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan15",
+  "target_object_types": [
+    "Pot",
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Pot",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I'm ready to start the stew, so please pick up the pot and slice the tomato for me."
+}

data/ai2thor/dual/tasks/ai2thor05079/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan18",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05079/task.json

@@ -0,0 +1,31 @@
+{
+  "task_id": "ai2thor05079",
+  "task_name": "Turn on the coffeemachine.",
+  "instruction": "I'm starting breakfast now, so please turn on the coffee machine for me.",
+  "golden_actions": {
+    "steps": 6,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(1.0)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOn(CoffeeMachine)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan18",
+  "target_object_types": [
+    "Pan",
+    "CoffeeMachine"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CoffeeMachine",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I'm starting breakfast now, so please turn on the coffee machine for me."
+}

data/ai2thor/dual/tasks/ai2thor05506/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan324",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05506/task.json

@@ -0,0 +1,38 @@
+{
+  "task_id": "ai2thor05506",
+  "task_name": "Pick up the tennis racket and clean the bed",
+  "instruction": "I want to combine my workout with some housework—could you pick up the tennis racket in the corner and give the bed a quick clean?",
+  "golden_actions": {
+    "steps": 7,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "CleanObject(Bed)",
+      "MoveLeft(1.0)",
+      "MoveAhead(1.0)",
+      "PickupObject(TennisRacket)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan324",
+  "target_object_types": [
+    "TennisRacket",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "TennisRacket",
+      "field": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to combine my workout with some housework—could you pick up the tennis racket in the corner and give the bed a quick clean?"
+}

data/ai2thor/dual/tasks/ai2thor05508/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan304",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05508/task.json

@@ -0,0 +1,36 @@
+{
+  "task_id": "ai2thor05508",
+  "task_name": "Grab the pillow and clean the bed",
+  "instruction": "It's such a lovely day; I feel like tidying up my bed. First I'll pick up my pillow, then give the whole bed a good clean—so I can sleep nice and sound tonight.",
+  "golden_actions": {
+    "steps": 5,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveRight(0.5)",
+      "PickupObject(Pillow)",
+      "CleanObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan304",
+  "target_object_types": [
+    "Pillow",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Pillow",
+      "field": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "It's such a lovely day; I feel like tidying up my bed. First I'll pick up my pillow, then give the whole bed a good clean—so I can sleep nice and sound tonight."
+}

data/ai2thor/dual/tasks/ai2thor05509/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan304",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05509/task.json

@@ -0,0 +1,38 @@
+{
+  "task_id": "ai2thor05509",
+  "task_name": "Make the bed and turn off the lights",
+  "instruction": "I'd like to take a nap. Could you tidy the bed and turn off the wall light for me? Thank you.",
+  "golden_actions": {
+    "steps": 7,
+    "actions": [
+      "MoveAhead(0.5)",
+      "CleanObject(Bed)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOff(LightSwitch)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan304",
+  "target_object_types": [
+    "Bed",
+    "LightSwitch"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "LightSwitch",
+      "field": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to take a nap. Could you tidy the bed and turn off the wall light for me? Thank you."
+}

data/ai2thor/dual/tasks/ai2thor05512/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan305",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05512/task.json

@@ -0,0 +1,39 @@
+{
+  "task_id": "ai2thor05512",
+  "task_name": "Tidy up the bed and put the book on it.",
+  "instruction": "I'd like to read the book on my desk before bed. Please tidy up the bed first, then bring the book and place it on the bed for me.",
+  "golden_actions": {
+    "steps": 9,
+    "actions": [
+      "MoveLeft(1.0)",
+      "MoveLeft(1.0)",
+      "MoveAhead(1.0)",
+      "PickupObject(Book)",
+      "MoveBack(0.5)",
+      "MoveRight(1.0)",
+      "CleanObject(Bed)",
+      "PutObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan305",
+  "target_object_types": [
+    "Bed",
+    "Book"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Book",
+      "receptacle_type": "Bed"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to read the book on my desk before bed. Please tidy up the bed first, then bring the book and place it on the bed for me."
+}

data/ai2thor/dual/tasks/ai2thor05515/init.json

@@ -0,0 +1,7 @@
+{
+  "scene": "FloorPlan307",
+  "actions": [
+    "LookDown",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05515/task.json

@@ -0,0 +1,37 @@
+{
+  "task_id": "ai2thor05515",
+  "task_name": "Pick up the phone and turn on the TV",
+  "instruction": "I feel like taking a break; I'm going to pick up my phone from the desk and turn on the TV so I can really unwind",
+  "golden_actions": {
+    "steps": 6,
+    "actions": [
+      "MoveAhead(0.5)",
+      "PickupObject(CellPhone)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOn(Television)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan307",
+  "target_object_types": [
+    "CellPhone",
+    "Television"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "field": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "field": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I feel like taking a break; I'm going to pick up my phone from the desk and turn on the TV so I can really unwind"
+}

data/ai2thor/dual/tasks/ai2thor05517/init.json

@@ -0,0 +1,13 @@
+{
+  "scene": "FloorPlan308",
+  "actions": [
+    "LookDown(30)",
+    "MoveLeft(0.75)",
+    "MoveAhead(0.5)",
+    "MoveLeft(0.25)",
+    "MoveAhead(1.0)",
+    "MoveAhead(1.0)",
+    "RotateRight(90)",
+    "Done"
+  ]
+}

data/ai2thor/dual/tasks/ai2thor05517/task.json

@@ -0,0 +1,36 @@
+{
+  "task_id": "ai2thor05517",
+  "task_name": "Straighten up the bed and then turn on the laptop.",
+  "instruction": "I just woke up and I’m ready to get to work—you help me tidy the bed first, then use the laptop to start working and get it booted up.",
+  "golden_actions": {
+    "steps": 5,
+    "actions": [
+      "CleanObject(Bed)",
+      "RotateRight(90)",
+      "MoveRight(1.0)",
+      "ToggleObjectOn(Laptop)",
+      "Done"
+    ]
+  },
+  "scene": "FloorPlan308",
+  "target_object_types": [
+    "Bed",
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "field": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "field": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "I just woke up and I’m ready to get to work—you help me tidy the bed first, then use the laptop to start working and get it booted up."
+}

data/ai2thor/dual/tasks/ai2thor05528/init.json

@@ -0,0 +1,9 @@
+{
+  "scene": "FloorPlan219",
+  "actions": [
+    "LookDown(30)",
+    "MoveAhead(1.0)",
+    "MoveAhead(0.5)",
+    "Done"
+  ]
+}