diff --git "a/Understanding/meta/val/traj_direction_choice.json" "b/Understanding/meta/val/traj_direction_choice.json" new file mode 100644--- /dev/null +++ "b/Understanding/meta/val/traj_direction_choice.json" @@ -0,0 +1,12238 @@ +[ + { + "task_id": "0000011", + "id": "RH20T_cfg4_task_0091_user_0014_scene_0007_cfg_0004_038522062288#112", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move an object from one box to another', and now you are performing subtask 'pick up the object'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000011/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.23429306050630402, + -0.972166015554231 + ], + [ + 0.9701425000276848, + 0.2425356250069212 + ], + [ + -0.9832671861114761, + -0.182169263917983 + ], + [ + -0.21125866587940514, + 0.9774301898810236 + ] + ] + }, + { + "task_id": "0000019", + "id": "RH20T_cfg5_task_0001_user_0020_scene_0001_cfg_0005_037522062165#279", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the green button on the yellow base', and now you are performing subtask 'press the green button on the yellow base'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000019/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9995476860940765, + -0.03007363004323804 + ], + [ + 0.0, + -0.9999999989999999 + ], + [ + -0.09500311229565989, + 0.9954769754515361 + ], + [ + 0.9947877324777219, + 0.1019674816391602 + ] + ] + }, + { + "task_id": "0000030", + "id": "RH20T_cfg3_task_0001_user_0016_scene_0007_cfg_0003_104122062823#175", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the button on the surface from top to bottom'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000030/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7283260266094599, + -0.6852307632931234 + ], + [ + -0.790318298470519, + -0.6126964885672708 + ], + [ + -0.7733607941689535, + 0.6339661521267249 + ], + [ + 0.707106781130992, + 0.707106781130992 + ] + ] + }, + { + "task_id": "0000061", + "id": "RH20T_cfg3_task_0016_user_0011_scene_0010_cfg_0003_104122062823#291", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000061/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0513686762949538, + 0.9986797580284204 + ], + [ + 0.9949001398558766, + -0.10086481901415016 + ], + [ + -0.9999999995, + 0.0 + ], + [ + -0.02098252832401985, + -0.9997798425179074 + ] + ] + }, + { + "task_id": "0000062", + "id": "RH20T_cfg3_task_0016_user_0011_scene_0010_cfg_0003_104122062823#342", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'twist the cue clockwise to hit the pool ball'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000062/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9986354216688349, + -0.05222350608976996 + ], + [ + -0.08740203970879507, + 0.9961731192191156 + ], + [ + 0.0, + -0.9999999999285715 + ], + [ + 0.998336097138357, + -0.057663135108602284 + ] + ] + }, + { + "task_id": "0000067", + "id": "RH20T_cfg2_task_0104_user_0007_scene_0007_cfg_0002_037522062165#112", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'press the plate'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000067/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.8944271905999158, + 0.4472135952999579 + ], + [ + 0.5781247224032772, + 0.8159484085076296 + ], + [ + 0.9427526647069733, + -0.3334927483288074 + ], + [ + -0.46473962598284746, + -0.8854473897648144 + ] + ] + }, + { + "task_id": "0000098", + "id": "RH20T_cfg3_task_0007_user_0016_scene_0007_cfg_0003_104122062823#146", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'holding a small block with the gripper and sweeping it from left to right on the table', and now you are performing subtask 'pick up a small piece from the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000098/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.16439898727833027, + 0.9863939236699816 + ], + [ + 0.9975152242529012, + -0.07045124117916159 + ], + [ + -0.16368665200103824, + -0.986512382059491 + ], + [ + -0.9750602083388241, + 0.22194051030456147 + ] + ] + }, + { + "task_id": "0000099", + "id": "RH20T_cfg4_task_0077_user_0015_scene_0009_cfg_0004_104122062823#83", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the first Lego block at the top left corner of the table to the top left corner of the gray base plate', and now you are performing subtask 'pick up the first small Lego block from the top left corner'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000099/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.31278473926452954, + 0.9498240399585707 + ], + [ + -0.9761870600780704, + 0.21693045779512676 + ], + [ + 0.9819888097835294, + -0.18893908399250656 + ], + [ + -0.14934339299955976, + -0.9887853917647546 + ] + ] + }, + { + "task_id": "0000105", + "id": "RH20T_cfg4_task_0105_user_0007_scene_0014_cfg_0004_104122062823#80", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the object from the table and move it upward', and now you are performing subtask 'pick up the object from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000105/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.35897907929598244, + 0.9333456061695544 + ], + [ + 0.9301731232318382, + 0.36712118001707206 + ], + [ + 0.21753077834255985, + -0.9760534618931896 + ], + [ + -0.8807790992741932, + -0.47352737859783894 + ] + ] + }, + { + "task_id": "0000115", + "id": "RH20T_cfg3_task_0091_user_0010_scene_0002_cfg_0003_104122062823#135", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move an object from one box to another', and now you are performing subtask 'pick up the basketball from the blue box'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000115/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.458791428043389, + -0.8885439919069331 + ], + [ + 0.9191450298973682, + 0.3939192985274435 + ], + [ + -0.8804560884722524, + -0.4741277003847605 + ], + [ + -0.36878557851331717, + 0.9295144953579789 + ] + ] + }, + { + "task_id": "0000116", + "id": "RH20T_cfg3_task_0091_user_0010_scene_0002_cfg_0003_104122062823#232", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move an object from one box to another', and now you are performing subtask 'place the basketball in the pink box'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000116/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.31622776596683794, + 0.9486832979005138 + ], + [ + 0.911299420486857, + -0.411744297131507 + ], + [ + -0.23846036731159603, + -0.971152229684728 + ], + [ + -0.9684056205212791, + 0.24938034032937784 + ] + ] + }, + { + "task_id": "0000121", + "id": "RH20T_cfg5_task_0096_user_0007_scene_0003_cfg_0005_104122063678#279", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'open the drawer and place the cube on the table', and now you are performing subtask 'pull the handle of the drawer to pull open the drawer'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000121/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6940896442994519, + 0.71988857865385 + ], + [ + 0.7836003174117827, + -0.6212652755080985 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.7251422570000198, + -0.6885990902643695 + ] + ] + }, + { + "task_id": "0000122", + "id": "RH20T_cfg5_task_0096_user_0007_scene_0003_cfg_0005_104122063678#470", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'open the drawer and place the cube on the table', and now you are performing subtask 'pull the handle of the drawer to pull open the drawer'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000122/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.996601422252167, + 0.08237478476425972 + ], + [ + 0.15368558793532283, + -0.9881198004599312 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.9993083029708107, + 0.03718757337603857 + ] + ] + }, + { + "task_id": "0000128", + "id": "RH20T_cfg4_task_0081_user_0007_scene_0004_cfg_0004_104122062823#130", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold the leg of the glasses (with one hand)', and now you are performing subtask 'pick up the glasses on the patterned blanket'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000128/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.10622875965806368, + -0.9943417172287953 + ], + [ + -0.9963079269003735, + -0.08585170234468274 + ], + [ + 0.9999999998333333, + 0.0 + ], + [ + 0.10934570197057095, + 0.9940037814116016 + ] + ] + }, + { + "task_id": "0000150", + "id": "RH20T_cfg7_task_0007_user_0014_scene_0005_cfg_0007_104122064161#127", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'push a wooden block towards the distance on the workbench', and now you are performing subtask 'push a wooden block on the workbench to the distance'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000150/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.4166547104774317, + 0.909064822859851 + ], + [ + 0.8978041447395374, + -0.44039495647487586 + ], + [ + -0.32874352587596634, + -0.9444192364594433 + ], + [ + -0.9297724075507706, + 0.3681348532226251 + ] + ] + }, + { + "task_id": "0000154", + "id": "RH20T_cfg4_task_0082_user_0015_scene_0010_cfg_0004_104122062823#81", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'scoop something from the red bowl to the white bowl with a large spoon', and now you are performing subtask 'pick up the large spoon from the red bowl'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000154/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.39391929856192626, + 0.919145029977828 + ], + [ + 0.8917462287000726, + 0.4525358147143692 + ], + [ + 0.5005224139727644, + -0.865723577772303 + ], + [ + -0.9205005240839155, + -0.39074132768525677 + ] + ] + }, + { + "task_id": "0000170", + "id": "RH20T_cfg6_task_0018_user_0014_scene_0007_cfg_0006_104122064161#64", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'sliding the Lego blocks on the desktop', and now you are performing subtask 'push the Lego block on the desk'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000170/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9289627090849076, + 0.3701733176900105 + ], + [ + 0.38451613179290517, + -0.9231182721574854 + ], + [ + -0.26311740576903186, + 0.9647638211531168 + ], + [ + -0.9174449480790609, + -0.39786274925432435 + ] + ] + }, + { + "task_id": "0000214", + "id": "RH20T_cfg7_task_0013_user_0020_scene_0004_cfg_0007_104122064161#109", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'pick up the block from the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000214/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9297189028592444, + -0.36826995759388637 + ], + [ + -0.3680361324751595, + -0.9298114890625556 + ], + [ + -0.9025262055021261, + 0.430634936323023 + ], + [ + 0.44721359543329126, + 0.8944271908665825 + ] + ] + }, + { + "task_id": "0000218", + "id": "RH20T_cfg2_task_0016_user_0003_scene_0009_cfg_0002_037522062165#155", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'an action of hitting the pool ball', and now you are performing subtask 'pick up the pool cue from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000218/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7076712714162405, + -0.7065418399586268 + ], + [ + 0.7071067806865474, + -0.7071067806865474 + ], + [ + -0.7653750095349788, + 0.6435845669213417 + ], + [ + 0.5883666402881259, + 0.8085942719287981 + ] + ] + }, + { + "task_id": "0000219", + "id": "RH20T_cfg2_task_0016_user_0003_scene_0009_cfg_0002_037522062165#234", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'an action of hitting the pool ball', and now you are performing subtask 'strike the pool ball on the green pool table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000219/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.8536191532506187, + 0.5208976302534856 + ], + [ + 0.34912322283918934, + 0.9370768246383953 + ], + [ + -0.4472135952999579, + -0.8944271905999158 + ], + [ + 0.8391661569661596, + -0.5438751336498543 + ] + ] + }, + { + "task_id": "0000238", + "id": "RH20T_cfg6_task_0038_user_0014_scene_0010_cfg_0006_104122064161#222", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the cup', and now you are performing subtask 'pick up the cup on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000238/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8873823267279722, + 0.461034278780711 + ], + [ + 0.23189030739821384, + -0.9727419417989346 + ], + [ + -0.3713906762851382, + 0.9284766907128456 + ], + [ + -0.9475091915842756, + -0.3197285283851169 + ] + ] + }, + { + "task_id": "0000246", + "id": "RH20T_cfg2_task_0022_user_0003_scene_0004_cfg_0002_037522062165#120", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the flag from the pen holder'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000246/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9592502065259535, + -0.2825580317030743 + ], + [ + -0.089402183173544, + -0.9959956072412188 + ], + [ + 0.20952908871623932, + 0.9778024140091168 + ], + [ + -0.9636110983833786, + 0.2673081575118477 + ] + ] + }, + { + "task_id": "0000249", + "id": "RH20T_cfg4_task_0032_user_0016_scene_0006_cfg_0004_104122062823#89", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the outer casing onto the gift box', and now you are performing subtask 'push the gift box lid on the desktop'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000249/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9980943638686424, + 0.06170608408941566 + ], + [ + 0.08630468714910734, + -0.9962687895222326 + ], + [ + -0.9989641715487085, + -0.04550366976412456 + ], + [ + 0.05121475197184692, + 0.998687663451015 + ] + ] + }, + { + "task_id": "0000259", + "id": "RH20T_cfg4_task_0066_user_0015_scene_0001_cfg_0004_104122062823#121", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'build with large Megabloks', and now you are performing subtask 'pick up the red block on the tablecloth'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000259/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.1414213562173095, + 0.9899494935211665 + ], + [ + 0.995787398260993, + 0.09169218867822114 + ], + [ + 0.01551285410989914, + -0.9998796684388402 + ], + [ + -0.9913843268770516, + -0.13098517634654455 + ] + ] + }, + { + "task_id": "0000261", + "id": "RH20T_cfg7_task_0015_user_0014_scene_0008_cfg_0007_104122064161#114", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumsticks from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000261/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7712057605477727, + 0.6365859524824057 + ], + [ + 0.712106710739803, + -0.7020712446179082 + ], + [ + -0.7071067809365474, + 0.7071067809365474 + ], + [ + -0.6985507889140464, + -0.7155604763453355 + ] + ] + }, + { + "task_id": "0000287", + "id": "RH20T_cfg3_task_0071_user_0010_scene_0008_cfg_0003_104122062823#150", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the sliding window to close'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000287/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7808688093210792, + 0.6246950474568633 + ], + [ + 0.5627793880735584, + 0.8266071378590626 + ], + [ + 0.7831633149775216, + -0.6218160677189192 + ], + [ + -0.7337929843269604, + -0.6793731347003157 + ] + ] + }, + { + "task_id": "0000298", + "id": "RH20T_cfg2_task_0041_user_0007_scene_0009_cfg_0002_037522062165#441", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'pick up the sponge from the tabletop'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000298/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5144957553392911, + 0.8574929255654853 + ], + [ + 0.8578285470003969, + 0.513935972618368 + ], + [ + 0.5350473013739946, + -0.8448221027485052 + ], + [ + -0.9168827166933424, + -0.39915671587615326 + ] + ] + }, + { + "task_id": "0000327", + "id": "RH20T_cfg4_task_0002_user_0010_scene_0008_cfg_0004_104122062823#77", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the blue napkin holder'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000327/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.449721153288775, + -0.8931690121609762 + ], + [ + 0.8436614876997545, + 0.536875492172571 + ], + [ + -0.821734842955545, + -0.5698700271753427 + ], + [ + -0.6571851458360571, + 0.7537291848485371 + ] + ] + }, + { + "task_id": "0000329", + "id": "RH20T_cfg6_task_0051_user_0014_scene_0002_cfg_0006_104122064161#95", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the dish off the dish rack', and now you are performing subtask 'pick up the bowl from the dish rack'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000329/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.12795730683088957, + -0.9917796769588424 + ], + [ + 0.9999999998333333, + 0.0 + ], + [ + -0.988703956997641, + 0.14988157130617108 + ], + [ + 0.09896305463889417, + 0.9950911082994056 + ] + ] + }, + { + "task_id": "0000378", + "id": "RH20T_cfg4_task_0071_user_0015_scene_0010_cfg_0004_104122062823#101", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the handle of the sliding window to close the window'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000378/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9998918012190293, + -0.014710059651995505 + ], + [ + 0.12635386767123644, + -0.9919852318076715 + ], + [ + -0.9954953256249167, + -0.09481063579019526 + ], + [ + 0.0, + 0.9999999998333333 + ] + ] + }, + { + "task_id": "0000390", + "id": "RH20T_cfg4_task_0035_user_0016_scene_0001_cfg_0004_104122062823#72", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up the small block from the desk'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000390/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.05759653509556396, + 0.9983399416564419 + ], + [ + 0.9819476163083505, + -0.1891530566138135 + ], + [ + -0.15893587566684167, + -0.9872889077802983 + ], + [ + -0.9873735521964336, + 0.15840918036211335 + ] + ] + }, + { + "task_id": "0000397", + "id": "RH20T_cfg3_task_0007_user_0016_scene_0008_cfg_0003_104122062823#151", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'holding a small block with the gripper and sweeping it from left to right on the table', and now you are performing subtask 'slide a small block from right to left on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000397/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.31622776596683794, + 0.9486832979005138 + ], + [ + 0.9168037339905344, + -0.3993380940268704 + ], + [ + -0.4278063952125409, + -0.9038703934830764 + ], + [ + -0.9162480934452439, + 0.40061132192931787 + ] + ] + }, + { + "task_id": "0000414", + "id": "RH20T_cfg3_task_0032_user_0011_scene_0002_cfg_0003_104122062823#186", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the outer casing onto the gift box', and now you are performing subtask 'push the outer casing onto the gift box'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000414/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9894337283740422, + 0.14498585157125568 + ], + [ + -0.15441957519130448, + -0.9880053617251969 + ], + [ + -0.9894692330211996, + -0.1447433483944569 + ], + [ + 0.0, + 0.9999999999285715 + ] + ] + }, + { + "task_id": "0000421", + "id": "RH20T_cfg3_task_0007_user_0016_scene_0002_cfg_0003_104122062823#142", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move a small block held by the gripper on the table to the designated position', and now you are performing subtask 'pick up the small block from the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000421/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9627744451484574, + -0.27030606313784383 + ], + [ + -0.4142983759248304, + -0.9101411185668121 + ], + [ + -0.9547625923646939, + 0.2973691177998307 + ], + [ + 0.31622776596683794, + 0.9486832979005138 + ] + ] + }, + { + "task_id": "0000429", + "id": "RH20T_cfg4_task_0068_user_0007_scene_0005_cfg_0004_104122062823#153", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the red button on the desktop', and now you are performing subtask 'press the red button on the desktop'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000429/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.48191874975104265, + 0.8762159086382594 + ], + [ + 0.8936259150299543, + 0.4488125711105662 + ], + [ + 0.575227768974182, + -0.817993284691864 + ], + [ + -0.8215945838601617, + -0.5700722232942486 + ] + ] + }, + { + "task_id": "0000440", + "id": "RH20T_cfg7_task_0001_user_0014_scene_0007_cfg_0007_104122064161#72", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the nearest green button', and now you are performing subtask 'press the nearest green button'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000440/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.729114196316232, + -0.6843920577637757 + ], + [ + 0.7071067811587698, + 0.7071067811587698 + ], + [ + -0.6960308119046001, + -0.7180119141625877 + ], + [ + -0.608364619654117, + 0.7936576652141032 + ] + ] + }, + { + "task_id": "0000446", + "id": "RH20T_cfg3_task_0038_user_0010_scene_0010_cfg_0003_104122062823#131", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the cup', and now you are performing subtask 'pick up the transparent cup on the block'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000446/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6616216370576634, + -0.7498378553320185 + ], + [ + -0.6397794191693434, + -0.7685585825474448 + ], + [ + -0.7409043135531497, + 0.6716106000937866 + ], + [ + 0.8141350603532629, + 0.5806755578665156 + ] + ] + }, + { + "task_id": "0000452", + "id": "RH20T_cfg5_task_0001_user_0010_scene_0003_cfg_0005_104122063678#256", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the button from top to bottom'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000452/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.039929351469201596, + -0.9992025054468433 + ], + [ + -0.9927117202432445, + 0.12051323782762755 + ], + [ + 0.9999999995, + 0.0 + ], + [ + -0.0076393694065721145, + 0.9999708195917869 + ] + ] + }, + { + "task_id": "0000482", + "id": "RH20T_cfg6_task_0011_user_0014_scene_0007_cfg_0006_104122064161#55", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the green watering can from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000482/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7191600530197484, + -0.6948444560767774 + ], + [ + -0.538094792867983, + -0.8428843300764124 + ], + [ + -0.8221114613116232, + 0.5693265716441377 + ], + [ + 0.6246950475056438, + 0.7808688093820547 + ] + ] + }, + { + "task_id": "0000508", + "id": "RH20T_cfg5_task_0119_user_0007_scene_0002_cfg_0005_104122063678#183", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'push the faucet switch to turn off the faucet'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000508/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.37439131736242104, + 0.9272708026696576 + ], + [ + -0.8741572760366321, + 0.48564293113146223 + ], + [ + 0.8275256756281707, + -0.561427872639166 + ], + [ + -0.530482873234072, + -0.8476956536430534 + ] + ] + }, + { + "task_id": "0000522", + "id": "RH20T_cfg2_task_0080_user_0014_scene_0006_cfg_0002_105422061350#126", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'flip over and spread out the paper that is laid flat on the table', and now you are performing subtask 'pick up the paper from the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000522/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.3825302276506111, + -0.923942977100628 + ], + [ + -0.9353326413105925, + -0.35376948723561624 + ], + [ + -0.40159630386926026, + 0.9158167986658405 + ], + [ + 0.8944271908999158, + 0.4472135954499579 + ] + ] + }, + { + "task_id": "0000533", + "id": "RH20T_cfg3_task_0018_user_0011_scene_0002_cfg_0003_104122062823#183", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the blocks from the pile'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000533/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7852176164587393, + -0.6192199082739962 + ], + [ + -0.5803024249213862, + -0.8144010655876863 + ], + [ + 0.6401843995825127, + 0.7682212794990152 + ], + [ + -0.663844567023288, + 0.7478705709102769 + ] + ] + }, + { + "task_id": "0000553", + "id": "RH20T_cfg5_task_0002_user_0014_scene_0010_cfg_0005_104122063678#173", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull the paper out of the container'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000553/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9066704785125024, + 0.42183959438856633 + ], + [ + -0.4472135953999579, + 0.8944271907999158 + ], + [ + 0.40037798613642794, + -0.9163500795096481 + ], + [ + -0.8580939530829053, + -0.5134927143422319 + ] + ] + }, + { + "task_id": "0000558", + "id": "RH20T_cfg7_task_0063_user_0020_scene_0008_cfg_0007_104122064161#129", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use a shovel to scoop up an object', and now you are performing subtask 'pick up the shovel on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000558/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9880167840165819, + 0.1543464755073176 + ], + [ + -0.14716263653792996, + -0.989112308288197 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.997115243434383, + 0.07590251188723122 + ] + ] + }, + { + "task_id": "0000593", + "id": "RH20T_cfg6_task_0015_user_0014_scene_0005_cfg_0006_104122064161#41", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumsticks from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000593/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.724437641070748, + -0.6893403398901374 + ], + [ + -0.69414763260699, + -0.7198326639894242 + ], + [ + 0.7348034445859544, + 0.6782801026947272 + ], + [ + -0.7405373021812764, + 0.6720152558373038 + ] + ] + }, + { + "task_id": "0000605", + "id": "RH20T_cfg7_task_0006_user_0020_scene_0006_cfg_0007_104122064161#137", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use the gripper to push the small block from left to right', and now you are performing subtask 'pick up the small piece on the cardboard'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000605/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.47724114724674044, + -0.8787723751772214 + ], + [ + -0.929220964459858, + -0.36952455832906583 + ], + [ + 0.8944271907999158, + 0.4472135953999579 + ], + [ + -0.5737618532990136, + 0.8190221826659406 + ] + ] + }, + { + "task_id": "0000613", + "id": "RH20T_cfg4_task_0026_user_0016_scene_0001_cfg_0004_104122062823#127", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use the gripper to push and close the drawer', and now you are performing subtask 'push the drawer handle to close the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000613/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.08469948349856081, + 0.9964065422783399 + ], + [ + 0.9997943964432912, + 0.020277200018620573 + ], + [ + 0.1340134068412259, + -0.9909795188533456 + ] + ] + }, + { + "task_id": "0000650", + "id": "RH20T_cfg3_task_0023_user_0010_scene_0001_cfg_0003_104122062823#205", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the power strip by pressing the button', and now you are performing subtask 'press the button on the power socket'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000650/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7204178664797662, + 0.6935402639045132 + ], + [ + 0.6362967395529182, + -0.7714443980186296 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.7820825220090213, + -0.6231748781586183 + ] + ] + }, + { + "task_id": "0000657", + "id": "RH20T_cfg1_task_0005_user_0004_scene_0007_cfg_0001_039422060546#209", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'push the wooden block to the left side of the table', and now you are performing subtask 'push the wooden block to the left side of the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000657/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9938837345638627, + 0.11043152606265141 + ], + [ + -0.0009855632647173635, + -0.9999995143324077 + ], + [ + -0.988238401921065, + -0.15292109392918793 + ], + [ + 0.016098302408770023, + 0.9998704139335036 + ] + ] + }, + { + "task_id": "0000660", + "id": "RH20T_cfg4_task_0009_user_0010_scene_0004_cfg_0004_104122062823#62", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take out a Hanoi block and place it on the table', and now you are performing subtask 'pick up the green hanoi block from the red platform'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000660/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9998790892389101, + -0.0155501415674518 + ], + [ + 0.028559773898061334, + 0.9995920864321466 + ], + [ + 0.038638753194078036, + -0.9992532445539555 + ], + [ + -0.9981233146280142, + 0.061236008981531725 + ] + ] + }, + { + "task_id": "0000671", + "id": "RH20T_cfg3_task_0035_user_0010_scene_0001_cfg_0003_104122062823#158", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up a small piece off the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000671/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9910331220887758, + 0.13361643208443166 + ], + [ + 0.2613612328878611, + -0.9652410610533191 + ], + [ + -0.9784533575250196, + -0.20646798092686472 + ], + [ + -0.24253562497750944, + 0.9701424999100378 + ] + ] + }, + { + "task_id": "0000679", + "id": "RH20T_cfg6_task_0046_user_0020_scene_0004_cfg_0006_104122064161#366", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the cup on the cup rack', and now you are performing subtask 'pick up the cup from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000679/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.23445710424345403, + 0.9721264661913975 + ], + [ + 0.9800372387320392, + 0.19881401031738205 + ], + [ + -0.9805806754986125, + -0.1961161350997225 + ], + [ + 0.3004389134459016, + -0.9538010585480843 + ] + ] + }, + { + "task_id": "0000680", + "id": "RH20T_cfg6_task_0042_user_0014_scene_0004_cfg_0006_104122064161#203", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'screw the lid onto the jar (needs to be twisted)', and now you are performing subtask 'transfer the lid from the top of the table to the top of the jar'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000680/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7820380062034245, + -0.6232307412615112 + ], + [ + -0.6782058987117904, + -0.7348719337085426 + ], + [ + -0.6509507310927201, + 0.7591199810898493 + ], + [ + 0.7071067806865474, + 0.7071067806865474 + ] + ] + }, + { + "task_id": "0000732", + "id": "RH20T_cfg6_task_0062_user_0014_scene_0003_cfg_0006_104122063633#89", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the toilet paper on its holder', and now you are performing subtask 'pick up the roll of paper from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000732/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9950304630837962, + -0.09957096733107539 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.0580724867411438, + -0.9983123690928104 + ], + [ + -0.997264236826142, + 0.07391915819036861 + ] + ] + }, + { + "task_id": "0000742", + "id": "RH20T_cfg6_task_0029_user_0014_scene_0005_cfg_0006_104122064161#72", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'open the drawer', and now you are performing subtask 'pull the drawer open'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000742/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8533365928847536, + 0.5213603928606777 + ], + [ + -0.4472135953999579, + 0.8944271907999158 + ], + [ + 0.4889490558327389, + -0.8723123413091628 + ], + [ + -0.8503884139483737, + -0.5261554384612681 + ] + ] + }, + { + "task_id": "0000745", + "id": "RH20T_cfg5_task_0034_user_0007_scene_0005_cfg_0005_104122063678#211", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'stack the squares in a row', and now you are performing subtask 'pick up the first square from the table'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000745/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9994378879611221, + -0.03352473874337746 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + -0.015866617508379827, + -0.9998741173011945 + ], + [ + -0.9974303432437094, + -0.07164293668419949 + ] + ] + }, + { + "task_id": "0000746", + "id": "RH20T_cfg5_task_0034_user_0007_scene_0005_cfg_0005_104122063678#379", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'stack the squares in a row', and now you are performing subtask 'place the first square in the center of the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000746/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.22807985896195998, + 0.9736424281716016 + ], + [ + 0.9331544447552695, + -0.35947570464981987 + ], + [ + -0.34993227949865285, + -0.9367749995409126 + ], + [ + -0.9486832979005138, + 0.31622776596683794 + ] + ] + }, + { + "task_id": "0000781", + "id": "RH20T_cfg6_task_0008_user_0014_scene_0007_cfg_0006_104122064161#86", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab the block and place it at the designated location', and now you are performing subtask 'pick up the block from the desktop'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000781/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9783835911545751, + -0.20679832823182395 + ], + [ + -0.21634714120427082, + -0.9763165032369059 + ], + [ + -0.9332018046237424, + 0.3593527401412026 + ], + [ + 0.22485950669314048, + 0.9743911956702753 + ] + ] + }, + { + "task_id": "0000821", + "id": "RH20T_cfg4_task_0018_user_0016_scene_0001_cfg_0004_104122062823#151", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the block from the tower and place it on the table', and now you are performing subtask 'pick up a block from the tower'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000821/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0, + 0.9999999989999999 + ], + [ + 0.9996113174994131, + -0.02787855676120251 + ], + [ + 0.14879768057265824, + -0.9888676606382663 + ], + [ + -0.9951907860922611, + 0.09795559849782645 + ] + ] + }, + { + "task_id": "0000853", + "id": "RH20T_cfg7_task_0073_user_0014_scene_0001_cfg_0007_104122064161#111", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer, close the drawer', and now you are performing subtask 'pick up the item from beside the drawer'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000853/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9947965159122873, + 0.10188175464122348 + ], + [ + 0.016541851664825913, + -0.9998631742111013 + ], + [ + 0.0, + 0.9999999998333333 + ], + [ + -0.9881492711139325, + 0.15349598690846603 + ] + ] + }, + { + "task_id": "0000867", + "id": "RH20T_cfg5_task_0013_user_0007_scene_0001_cfg_0005_104122063678#270", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'pick up the block from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000867/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8613220532126524, + 0.5080593672490851 + ], + [ + 0.4405310880368454, + -0.8977373560641627 + ], + [ + -0.9214708839415905, + -0.3884474353730551 + ], + [ + -0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0000915", + "id": "RH20T_cfg2_task_0054_user_0007_scene_0009_cfg_0002_105422061350#77", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the moving object directly under the robotic arm'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000915/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.613044090857235, + 0.7900486963884101 + ], + [ + 0.7181988195588491, + -0.6958379521011165 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.7959151227099835, + -0.6054082237974241 + ] + ] + }, + { + "task_id": "0000933", + "id": "RH20T_cfg4_task_0067_user_0007_scene_0007_cfg_0004_104122062823#130", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the red button on the yellow base from top to bottom', and now you are performing subtask 'press the red button on the yellow base from top to bottom'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000933/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9974235041269911, + 0.07173808901158625 + ], + [ + -0.2248595066819045, + 0.9743911956215862 + ], + [ + 0.3565762651380911, + -0.9342662185588055 + ], + [ + -0.9901009192520922, + -0.14035729299242708 + ] + ] + }, + { + "task_id": "0000936", + "id": "RH20T_cfg4_task_0091_user_0007_scene_0006_cfg_0004_104122062823#76", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move an object from one box to another', and now you are performing subtask 'pick up the object in the left box'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000936/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9570244044057193, + 0.2900073952744604 + ], + [ + 0.3126420102266269, + -0.9498710298990353 + ], + [ + -0.9816674728985818, + -0.19060160716245822 + ], + [ + -0.14392261290771052, + 0.9895889457213117 + ] + ] + }, + { + "task_id": "0000942", + "id": "RH20T_cfg5_task_0039_user_0007_scene_0007_cfg_0005_104122063678#281", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pour the water from a cup into another empty cup', and now you are performing subtask 'pick up the cup with water from the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000942/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5992366193611919, + 0.8005719667940978 + ], + [ + 0.6217166283387239, + -0.7832422575724124 + ], + [ + -0.653305003022356, + -0.7570948243291321 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ] + ] + }, + { + "task_id": "0000957", + "id": "RH20T_cfg5_task_0103_user_0007_scene_0002_cfg_0005_104122063678#200", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the plate into the goal post', and now you are performing subtask 'slide the plate on the table into the goal'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000957/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.31622776591683793, + 0.9486832977505137 + ], + [ + 0.9657545644973452, + -0.2594573590256079 + ], + [ + -0.19104594061056454, + -0.9815810962810076 + ], + [ + -0.9776835456674383, + 0.21008304198851013 + ] + ] + }, + { + "task_id": "0000972", + "id": "RH20T_cfg4_task_0013_user_0010_scene_0002_cfg_0004_038522062288#92", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'pick up the small block from the desktop'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0000972/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.588770890424462, + -0.8082999681979371 + ], + [ + 0.7071067810865475, + 0.7071067810865475 + ], + [ + -0.6650677407086677, + -0.7467830342667597 + ], + [ + -0.6224903260459778, + 0.7826274937536838 + ] + ] + }, + { + "task_id": "0001015", + "id": "RH20T_cfg5_task_0041_user_0007_scene_0006_cfg_0005_104122063678#261", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'pick up the sponge on the tabletop'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001015/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9993380683517206, + -0.03637891069083887 + ], + [ + 0.0, + -0.9999999995 + ], + [ + -0.03964485856237265, + 0.9992138335659537 + ], + [ + 0.9983001837553289, + -0.058281584690849306 + ] + ] + }, + { + "task_id": "0001029", + "id": "RH20T_cfg4_task_0083_user_0015_scene_0004_cfg_0004_104122062823#181", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter from the surface'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001029/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.59999999988, + 0.79999999984 + ], + [ + 0.7031914124985053, + -0.7110005888804573 + ], + [ + -0.6602438220501587, + -0.7510513267710792 + ], + [ + -0.7394207500227707, + 0.6732436070515362 + ] + ] + }, + { + "task_id": "0001036", + "id": "RH20T_cfg5_task_0073_user_0007_scene_0001_cfg_0005_037522062165#165", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'grab the handle to pull the drawer open'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001036/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5948135899699077, + 0.8038636657960792 + ], + [ + 0.6708910665586784, + 0.7415559161733921 + ], + [ + -0.7071067806865474, + -0.7071067806865474 + ], + [ + 0.7508589349430006, + -0.6604626104604733 + ] + ] + }, + { + "task_id": "0001049", + "id": "RH20T_cfg5_task_0081_user_0007_scene_0010_cfg_0005_104122063678#212", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold the leg of the glasses (with one hand)', and now you are performing subtask 'fold the leg of the glasses'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001049/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9981565670221235, + 0.06069157858063306 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + -0.03836790916054459, + -0.9992636806902612 + ], + [ + -0.9923470703268465, + -0.1234799255495601 + ] + ] + }, + { + "task_id": "0001060", + "id": "RH20T_cfg4_task_0045_user_0014_scene_0007_cfg_0004_104122062823#99", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the brush from the table and place it on the pen rack', and now you are performing subtask 'pick up the brush from above the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001060/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9138115485274737, + 0.40613846601221054 + ], + [ + 0.294654709115776, + -0.9556037894419933 + ], + [ + -0.9074727874928864, + -0.42011086627209593 + ], + [ + -0.4850497603309294, + 0.8744865522138737 + ] + ] + }, + { + "task_id": "0001074", + "id": "RH20T_cfg3_task_0032_user_0011_scene_0001_cfg_0003_104122062823#134", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the outer casing onto the gift box', and now you are performing subtask 'slide the outer casing onto the gift box'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001074/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.033854699215281045, + 0.9994267653715517 + ], + [ + -0.9999999998571428, + 0.0 + ], + [ + 0.9955658058462629, + -0.09406766835465431 + ], + [ + 0.1005583429605891, + -0.9949311632776514 + ] + ] + }, + { + "task_id": "0001082", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0007_cfg_0004_104122062823#210", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'pick up the lamp holder from the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001082/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.59999999988, + 0.79999999984 + ], + [ + 0.7069164169786263, + 0.7072970941592374 + ], + [ + 0.5863871070295991, + -0.8100309628091124 + ], + [ + -0.8023439452723337, + -0.5968619551326978 + ] + ] + }, + { + "task_id": "0001083", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0007_cfg_0004_104122062823#1557", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'insert the lamp holder into the socket'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001083/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.38792720222998484, + 0.9216900160954423 + ], + [ + -0.9701424999100378, + 0.24253562497750944 + ], + [ + 0.9722779286756987, + -0.2338282049071345 + ], + [ + -0.2755601895029163, + -0.9612838196709216 + ] + ] + }, + { + "task_id": "0001094", + "id": "RH20T_cfg6_task_0029_user_0014_scene_0003_cfg_0006_104122064161#79", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the handle and open the drawer', and now you are performing subtask 'pull the handle of the drawer to open the drawer'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001094/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9152743496689018, + -0.40283106240478667 + ], + [ + -0.48035131925579716, + 0.8770761712013474 + ], + [ + 0.8742573940458644, + 0.48546267514211056 + ], + [ + 0.44721359543329126, + -0.8944271908665825 + ] + ] + }, + { + "task_id": "0001102", + "id": "RH20T_cfg2_task_0101_user_0007_scene_0002_cfg_0002_105422061350#192", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'cleaning the table with a cloth', and now you are performing subtask 'slide the cloth on the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001102/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.08334607577785903, + -0.9965206629330028 + ], + [ + -0.9894374549859355, + -0.14496041760065037 + ], + [ + 0.9999999989999999, + 0.0 + ], + [ + -0.09171088497338871, + 0.9957856765275337 + ] + ] + }, + { + "task_id": "0001114", + "id": "RH20T_cfg4_task_0081_user_0015_scene_0002_cfg_0004_104122062823#103", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold the leg of the glasses (with one hand)', and now you are performing subtask 'pick up the glasses on the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001114/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.39533051087452437, + 0.9185389415651836 + ], + [ + -0.939793423408145, + 0.3417430630575073 + ], + [ + 0.902797019020722, + -0.4300669046175239 + ], + [ + -0.2537539950528663, + -0.9672687889075663 + ] + ] + }, + { + "task_id": "0001135", + "id": "RH20T_cfg5_task_0029_user_0010_scene_0006_cfg_0005_104122063678#221", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the handle and open the drawer', and now you are performing subtask 'grab the handle of the drawer'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001135/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.4035138292788748, + -0.9149735458365444 + ], + [ + 0.8944271905999158, + -0.4472135952999579 + ], + [ + -0.8555210464129896, + 0.5177680360397148 + ], + [ + 0.35714606020745077, + 0.9340485488872065 + ] + ] + }, + { + "task_id": "0001148", + "id": "RH20T_cfg5_task_0001_user_0007_scene_0009_cfg_0005_104122063678#120", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the button from top to bottom'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001148/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6152797010150309, + -0.7883088795128811 + ], + [ + 0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.6485232289130148, + -0.76119486438115 + ], + [ + -0.7297720959179979, + 0.6836904913917207 + ] + ] + }, + { + "task_id": "0001157", + "id": "RH20T_cfg4_task_0029_user_0016_scene_0009_cfg_0004_104122062823#107", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the handle and open the drawer', and now you are performing subtask 'pull the handle to open the drawer'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001157/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5368754921519828, + 0.8436614876674016 + ], + [ + 0.7829490531309671, + -0.6220858302528054 + ], + [ + -0.45250639593169484, + -0.8917611572842294 + ], + [ + -0.7755449853549125, + 0.6312923060602346 + ] + ] + }, + { + "task_id": "0001185", + "id": "RH20T_cfg3_task_0023_user_0010_scene_0006_cfg_0003_104122062823#120", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the power strip by pressing the button', and now you are performing subtask 'press the button on the power socket'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001185/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.4961389382952954, + 0.8682431420167669 + ], + [ + 0.8807351062898338, + 0.47360919812503155 + ], + [ + 0.3770336616536426, + -0.9261995562404717 + ], + [ + -0.8599767016028099, + -0.5103332957003214 + ] + ] + }, + { + "task_id": "0001229", + "id": "RH20T_cfg3_task_0026_user_0010_scene_0001_cfg_0003_104122062823#27", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use the gripper to push and close the drawer', and now you are performing subtask 'push the handle of the drawer to close the drawer'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001229/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9161573348497302, + -0.400818833996757 + ], + [ + -0.4353641371812969, + 0.9002544462852627 + ], + [ + 0.8840493409373531, + 0.46739358445343643 + ], + [ + 0.5177036609062711, + -0.8555600034388264 + ] + ] + }, + { + "task_id": "0001230", + "id": "RH20T_cfg4_task_0107_user_0015_scene_0009_cfg_0004_104122062823#94", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the garbage in the trash can', and now you are performing subtask 'pick up the garbage from the desktop'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001230/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7926812893515158, + -0.6096362632849349 + ], + [ + -0.5625427108449184, + 0.8267682253662453 + ], + [ + 0.554700196071383, + -0.8320502941070744 + ], + [ + 0.8660609342397053, + 0.49993845439598744 + ] + ] + }, + { + "task_id": "0001231", + "id": "RH20T_cfg4_task_0107_user_0015_scene_0009_cfg_0004_104122062823#213", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the garbage in the trash can', and now you are performing subtask 'place the garbage in the trash can'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001231/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6956285151078555, + 0.7184016766188954 + ], + [ + -0.707106781141093, + 0.707106781141093 + ], + [ + 0.7692863251125784, + -0.6389041790400062 + ], + [ + -0.6192518554718108, + -0.7851924219544657 + ] + ] + }, + { + "task_id": "0001251", + "id": "RH20T_cfg5_task_0037_user_0007_scene_0004_cfg_0005_104122063678#517", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'stack the blocks in a vertical line of five', and now you are performing subtask 'pick up the second block from the surface'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001251/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.10032563962687757, + 0.9949546552649814 + ], + [ + 0.9928169605779158, + -0.11964314768857143 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + -0.07952454081641845, + -0.9968329084695878 + ] + ] + }, + { + "task_id": "0001283", + "id": "RH20T_cfg6_task_0046_user_0020_scene_0010_cfg_0006_104122063633#299", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the cup on the cup rack', and now you are performing subtask 'pick up the cup from the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001283/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9966294485656896, + 0.08203500625738645 + ], + [ + 0.03144224625836208, + -0.9995055703447723 + ], + [ + 0.0, + 0.9999999995 + ], + [ + -0.9894674766977037, + -0.14475535415824586 + ] + ] + }, + { + "task_id": "0001296", + "id": "RH20T_cfg4_task_0110_user_0007_scene_0009_cfg_0004_104122062823#78", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the pencil out from the pencil sharpener', and now you are performing subtask 'pull the pencil out from the pencil sharpener'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001296/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5144957553834089, + 0.8574929256390147 + ], + [ + 0.7933570947801969, + 0.608756536032202 + ], + [ + 0.5885878366221082, + -0.8084332740433848 + ], + [ + -0.9112343522729187, + -0.4118882800441818 + ] + ] + }, + { + "task_id": "0001297", + "id": "RH20T_cfg5_task_0118_user_0007_scene_0010_cfg_0005_104122063678#183", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'push the handle of the faucet to the position of turning on the water tap'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001297/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8455186808462166, + -0.5339458402685366 + ], + [ + 0.554700196071383, + 0.8320502941070744 + ], + [ + -0.6161763913177747, + -0.7876081860815088 + ], + [ + -0.806503043181068, + 0.5912299394818199 + ] + ] + }, + { + "task_id": "0001309", + "id": "RH20T_cfg3_task_0021_user_0010_scene_0009_cfg_0003_104122062823#75", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn off the desk lamp by pressing the button', and now you are performing subtask 'press the button on the desk lamp to turn off the lamp'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001309/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6709461203683681, + -0.7415061048721281 + ], + [ + -0.750897777967434, + -0.6604184484427811 + ], + [ + -0.6980642446971874, + 0.7160351320119324 + ], + [ + 0.79999999984, + 0.59999999988 + ] + ] + }, + { + "task_id": "0001311", + "id": "RH20T_cfg7_task_0028_user_0020_scene_0003_cfg_0007_104122064161#112", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'grab the handle of the drawer'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001311/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.6489858146328268, + -0.7608005076269114 + ], + [ + 0.7071067810198809, + -0.7071067810198809 + ], + [ + -0.6485841471588073, + 0.7611429590124857 + ], + [ + 0.6025153423871573, + 0.7981072999215623 + ] + ] + }, + { + "task_id": "0001330", + "id": "RH20T_cfg4_task_0108_user_0015_scene_0009_cfg_0004_104122062823#107", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'sharpen the pencil with a pencil sharpener', and now you are performing subtask 'twist the handle of the pencil sharpener clockwise'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001330/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8268536121416304, + -0.5624171975396361 + ], + [ + -0.6004582529160845, + -0.7996561051508102 + ], + [ + -0.8009396992325224, + 0.5987450193473987 + ], + [ + 0.6549305384013445, + 0.7556890827707821 + ] + ] + }, + { + "task_id": "0001345", + "id": "RH20T_cfg5_task_0010_user_0007_scene_0003_cfg_0005_104122063678#248", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the handset of the telephone on the corresponding phone cradle', and now you are performing subtask 'pick up the handset from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001345/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9696499057042078, + 0.24449756720225438 + ], + [ + -0.31622776591683793, + 0.9486832977505137 + ], + [ + 0.23719198664856653, + -0.9714627946914418 + ], + [ + -0.9528932953092579, + -0.30330573313846787 + ] + ] + }, + { + "task_id": "0001359", + "id": "RH20T_cfg4_task_0024_user_0014_scene_0003_cfg_0004_038522062288#96", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn off the power strip by pressing the button', and now you are performing subtask 'press the button on the power'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001359/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7873065531043867, + 0.6165617498993022 + ], + [ + 0.6211473932840935, + -0.783693764053521 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.6698396750402438, + -0.7425057641136402 + ] + ] + }, + { + "task_id": "0001403", + "id": "RH20T_cfg6_task_0032_user_0020_scene_0009_cfg_0006_104122064161#167", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the outer casing onto the gift box', and now you are performing subtask 'slide the outer casing onto the gift box'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001403/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.99992081914987, + -0.012583935419935703 + ], + [ + -0.003944283364141814, + 0.9999922212841175 + ], + [ + 0.0, + -0.9999999989999999 + ], + [ + 0.9967408639537689, + -0.08067000759076687 + ] + ] + }, + { + "task_id": "0001417", + "id": "RH20T_cfg6_task_0073_user_0020_scene_0005_cfg_0006_104122064161#103", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pull the drawer to open the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001417/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9805806754986125, + -0.1961161350997225 + ], + [ + -0.20526351326999412, + -0.9787067436776242 + ], + [ + -0.9758858987655702, + 0.21828126944498744 + ], + [ + 0.13216985613465168, + 0.9912270825241537 + ] + ] + }, + { + "task_id": "0001423", + "id": "RH20T_cfg5_task_0001_user_0007_scene_0008_cfg_0005_037522062165#120", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the green button on the control panel from top to bottom'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001423/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9892419976596472, + 0.1462883114481493 + ], + [ + -0.1107282250052652, + -0.9938507232915733 + ], + [ + -0.988092476604475, + -0.15386116364318508 + ], + [ + 0.0, + 0.9999999998333333 + ] + ] + }, + { + "task_id": "0001434", + "id": "RH20T_cfg5_task_0044_user_0010_scene_0007_cfg_0005_037522062165#126", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up the bag on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001434/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9993453225916432, + -0.03617908531464656 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + 0.10225340913889146, + -0.9947583828847458 + ], + [ + -0.9999059485098206, + -0.013714741509633291 + ] + ] + }, + { + "task_id": "0001441", + "id": "RH20T_cfg4_task_0047_user_0014_scene_0014_cfg_0004_104122062823#78", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'pick up the cup from the cup rack'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001441/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.09094535766071934, + 0.9958558841117343 + ], + [ + 0.9993742903928343, + 0.03536986997175628 + ], + [ + -0.1444561163868285, + -0.9895112078387162 + ], + [ + -0.9999999999090909, + 0.0 + ] + ] + }, + { + "task_id": "0001449", + "id": "RH20T_cfg7_task_0025_user_0020_scene_0008_cfg_0007_104122064161#103", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (one end is pressed down by a weight)', and now you are performing subtask 'pull the paper on the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001449/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6246950474568633, + 0.7808688093210792 + ], + [ + 0.8480166229416809, + -0.529969628577513 + ], + [ + -0.7242719096244098, + -0.6895144675269773 + ], + [ + -0.6799784921651789, + 0.733232057532109 + ] + ] + }, + { + "task_id": "0001455", + "id": "RH20T_cfg3_task_0006_user_0016_scene_0004_cfg_0003_104122062823#140", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'push the small block to the left', and now you are performing subtask 'push the small square block to the left'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001455/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.45272240213535114, + -0.8916515163475008 + ], + [ + 0.9486832980076567, + 0.31622776600255226 + ], + [ + -0.9626487008697718, + -0.2707535386910774 + ], + [ + -0.18356325144447688, + 0.9830079006392226 + ] + ] + }, + { + "task_id": "0001480", + "id": "RH20T_cfg6_task_0104_user_0020_scene_0004_cfg_0006_104122064161#150", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'press the plate on the table to fix it'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001480/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.07767567523599563, + -0.9969786805527149 + ], + [ + -0.9879039837145971, + 0.15506682095415814 + ], + [ + 0.99999999975, + 0.0 + ], + [ + 0.01780387440613836, + 0.9998414984666972 + ] + ] + }, + { + "task_id": "0001491", + "id": "RH20T_cfg6_task_0022_user_0014_scene_0007_cfg_0006_104122064161#28", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the flag on the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001491/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6154658195053249, + -0.7881635775780552 + ], + [ + 0.7071067811587698, + 0.7071067811587698 + ], + [ + -0.6369798737572174, + -0.7708804319920433 + ], + [ + -0.6675147369825541, + 0.7445965860189742 + ] + ] + }, + { + "task_id": "0001555", + "id": "RH20T_cfg5_task_0082_user_0007_scene_0002_cfg_0005_104122063678#249", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'scoop water with a large spoon from one bowl to another', and now you are performing subtask 'pick up the spoon from the bowl'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001555/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8889295101937699, + 0.45804402179994047 + ], + [ + 0.6088953873454174, + -0.7932505324734892 + ], + [ + -0.554700196071383, + 0.8320502941070744 + ], + [ + -0.784008072171367, + -0.6207506284895219 + ] + ] + }, + { + "task_id": "0001590", + "id": "RH20T_cfg3_task_0007_user_0016_scene_0006_cfg_0003_104122062823#191", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'holding a small block with the gripper and sweeping it from left to right on the table', and now you are performing subtask 'pick up the small block from the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001590/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9959296336576172, + 0.09013414892594394 + ], + [ + 0.0, + 0.9999999998888889 + ], + [ + -0.02691079477582541, + -0.9996378389819653 + ], + [ + -0.9978028603554432, + -0.06625293854989404 + ] + ] + }, + { + "task_id": "0001592", + "id": "RH20T_cfg5_task_0033_user_0010_scene_0010_cfg_0005_104122063678#249", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp a small block to sweep the other small block into the designated position', and now you are performing subtask 'pick up the block to the left of the mark'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001592/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.11234480818413067, + 0.9936692830484753 + ], + [ + 0.9928351387077735, + 0.11949220621913449 + ], + [ + 0.07440192481116585, + -0.9972283357307862 + ], + [ + -0.9999999996666666, + 0.0 + ] + ] + }, + { + "task_id": "0001593", + "id": "RH20T_cfg5_task_0033_user_0010_scene_0010_cfg_0005_104122063678#419", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp a small block to sweep the other small block into the designated position', and now you are performing subtask 'push another block towards the mark'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001593/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.6466723922768353, + -0.7627678657802485 + ], + [ + -0.8583839535511153, + 0.5130077857946767 + ], + [ + 0.4796183985887175, + 0.8774771744810198 + ], + [ + 0.79999999984, + -0.59999999988 + ] + ] + }, + { + "task_id": "0001609", + "id": "RH20T_cfg6_task_0017_user_0014_scene_0002_cfg_0006_104122064161#42", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the pen into the pen holder', and now you are performing subtask 'pick up the pen from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001609/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.2747211278596422, + 0.9615239475087477 + ], + [ + 0.9780186365703646, + -0.20851749691823243 + ], + [ + -0.15939934819704712, + -0.9872141853692928 + ], + [ + -0.9287888054137767, + 0.3706094371950743 + ] + ] + }, + { + "task_id": "0001613", + "id": "RH20T_cfg5_task_0010_user_0010_scene_0002_cfg_0005_104122063678#315", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the handset of the telephone on the corresponding phone cradle', and now you are performing subtask 'pick up the telephone handset from the desktop'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001613/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.4472135952999579, + 0.8944271905999158 + ], + [ + 0.8869806244874043, + -0.461806638956105 + ], + [ + -0.4119870086483866, + -0.9111897193806316 + ], + [ + -0.927401819124347, + 0.3740666596809344 + ] + ] + }, + { + "task_id": "0001614", + "id": "RH20T_cfg5_task_0001_user_0010_scene_0001_cfg_0005_104122063678#166", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the green button from top to bottom'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001614/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.4472135953999579, + 0.8944271907999158 + ], + [ + 0.8539200177420678, + 0.5204042691018076 + ], + [ + 0.4902968462566966, + -0.8715555074409991 + ], + [ + -0.9188951884333298, + -0.39450175243473284 + ] + ] + }, + { + "task_id": "0001615", + "id": "RH20T_cfg4_task_0111_user_0007_scene_0003_cfg_0004_104122062823#104", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the object with the corresponding shape into the corresponding hole', and now you are performing subtask 'pick up the colorful shape from the board'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001615/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9900502704006451, + -0.14071411471351972 + ], + [ + 0.0, + 0.9999999998571428 + ], + [ + -0.0664648878889112, + -0.997788764557867 + ], + [ + -0.999999859848095, + 0.0005294372392603065 + ] + ] + }, + { + "task_id": "0001618", + "id": "RH20T_cfg4_task_0103_user_0007_scene_0003_cfg_0004_104122062823#86", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'drag the plate to the goal post after holding it down', and now you are performing subtask 'push the plate towards the goal'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001618/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9586597547171821, + -0.2845548711331305 + ], + [ + -0.16110742555039131, + -0.9869368761134245 + ], + [ + 0.1682964628879745, + 0.9857364254867079 + ], + [ + -0.9887713321388152, + 0.1494364505080097 + ] + ] + }, + { + "task_id": "0001632", + "id": "RH20T_cfg4_task_0014_user_0016_scene_0003_cfg_0004_104122062823#94", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the table next to the scale', and now you are performing subtask 'pick up the block on the scale'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001632/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6653460883915894, + 0.7465350511945246 + ], + [ + 0.6016081159686233, + -0.7987913837796973 + ], + [ + -0.6599250859345825, + -0.7513314055423439 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ] + ] + }, + { + "task_id": "0001641", + "id": "RH20T_cfg3_task_0067_user_0010_scene_0010_cfg_0003_104122062823#162", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press a button from top to bottom with obstacles', and now you are performing subtask 'press the green button on the yellow base from top to bottom'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001641/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.2164788963853204, + 0.9762872975819125 + ], + [ + 0.9779808785864389, + -0.20869451626551508 + ], + [ + -0.0362051064706798, + -0.9993443802140716 + ], + [ + -0.9899494936144998, + 0.14142135623064284 + ] + ] + }, + { + "task_id": "0001658", + "id": "RH20T_cfg6_task_0043_user_0014_scene_0008_cfg_0006_104122064161#126", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unscrew the lid from the jar', and now you are performing subtask 'pick up the jar from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001658/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8059849029704899, + 0.5919360913001083 + ], + [ + 0.6923774793226993, + -0.721535464219705 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + -0.6853692685765272, + -0.7281956918925544 + ] + ] + }, + { + "task_id": "0001666", + "id": "RH20T_cfg2_task_0029_user_0003_scene_0005_cfg_0002_037522062165#149", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp the handle and open the drawer', and now you are performing subtask 'pull the drawer out by pulling the handle'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001666/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5929208768097277, + 0.8052607241404387 + ], + [ + 0.7196675161572615, + -0.6943188505204491 + ], + [ + -0.79999999984, + 0.59999999988 + ], + [ + -0.5897787788866127, + -0.8075648531077959 + ] + ] + }, + { + "task_id": "0001673", + "id": "RH20T_cfg5_task_0001_user_0007_scene_0001_cfg_0005_104122063678#147", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the button on the table from top to bottom'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001673/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6164482331445374, + 0.7873954380443018 + ], + [ + 0.6054285684281764, + -0.7958996472740825 + ], + [ + -0.7644576379735594, + -0.6446739639103526 + ], + [ + -0.7071067806865474, + 0.7071067806865474 + ] + ] + }, + { + "task_id": "0001675", + "id": "RH20T_cfg4_task_0069_user_0007_scene_0006_cfg_0004_104122062823#138", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a piece of the puzzle from the desk and place it in the correct position', and now you are performing subtask 'pick up a puzzle piece from the wooden table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001675/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6124226987503536, + -0.7905304788908103 + ], + [ + -0.7989165364447921, + -0.601441907248786 + ], + [ + -0.5813153038777684, + 0.8136783870040409 + ], + [ + 0.7808688093210792, + 0.6246950474568633 + ] + ] + }, + { + "task_id": "0001688", + "id": "RH20T_cfg4_task_0111_user_0007_scene_0001_cfg_0004_104122062823#117", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the object with the corresponding shape into the corresponding hole', and now you are performing subtask 'pick up the object with the shape of 1 on the top board'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001688/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.12420826842819795, + -0.992256169572187 + ], + [ + -0.9994197641643294, + 0.034060754508909476 + ], + [ + 0.9938837345638627, + -0.11043152606265141 + ], + [ + 0.11690042036745067, + 0.9931436410297925 + ] + ] + }, + { + "task_id": "0001707", + "id": "RH20T_cfg2_task_0042_user_0007_scene_0002_cfg_0002_037522062165#214", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'screw the lid onto the jar (needs to be rotated)', and now you are performing subtask 'pick up the lid from the jar'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001707/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.06659822517535349, + 0.9977798737214 + ], + [ + 0.9884966913003838, + 0.15124249167543427 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.04548649109838171, + -0.9989649539035675 + ] + ] + }, + { + "task_id": "0001713", + "id": "RH20T_cfg4_task_0020_user_0016_scene_0002_cfg_0004_104122062823#119", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the desk lamp by pressing the button', and now you are performing subtask 'press the button on the desk lamp to turn on the light'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001713/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.32432432431555885, + 0.94594594592038 + ], + [ + 0.9749971818356531, + 0.22221722573314262 + ], + [ + 0.24371178779016373, + -0.9698477016996649 + ], + [ + -0.9824556543682672, + -0.18649634634442522 + ] + ] + }, + { + "task_id": "0001716", + "id": "RH20T_cfg7_task_0004_user_0020_scene_0005_cfg_0007_104122064161#106", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the big block from the desktop and move it to the left', and now you are performing subtask 'pick up the large block from the desktop'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001716/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9187735660550167, + -0.39478492159471823 + ], + [ + -0.4205092758758295, + -0.9072882391513656 + ], + [ + -0.9209416830716068, + 0.38970041875938 + ], + [ + 0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0001763", + "id": "RH20T_cfg4_task_0096_user_0015_scene_0009_cfg_0004_104122062823#133", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer to open the drawer'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001763/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.06730478186044486, + -0.9977324623057616 + ], + [ + 0.99999999975, + 0.0 + ], + [ + -0.9938561317649505, + -0.11067967000858558 + ], + [ + 0.11755921429179154, + 0.9930658745194584 + ] + ] + }, + { + "task_id": "0001764", + "id": "RH20T_cfg4_task_0096_user_0015_scene_0009_cfg_0004_104122062823#275", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pick up the block from inside the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001764/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9999999999230769, + 0.0 + ], + [ + -0.0029722203878530945, + -0.9999955829432279 + ], + [ + -0.9894080177499481, + 0.14516120146967093 + ], + [ + -0.1335018663425415, + 0.9910485617178697 + ] + ] + }, + { + "task_id": "0001769", + "id": "RH20T_cfg4_task_0066_user_0016_scene_0001_cfg_0004_104122062823#108", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'build with large megabloks for the nth time with n blocks', and now you are performing subtask 'pick up a large Megablok from the bottom right corner'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001769/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9993478547381552, + -0.03610907407075203 + ], + [ + 0.0, + 0.9999999999166667 + ], + [ + -0.033907315838234385, + -0.9994249816432678 + ], + [ + -0.9997927337407785, + 0.020359016654564344 + ] + ] + }, + { + "task_id": "0001780", + "id": "RH20T_cfg5_task_0004_user_0010_scene_0001_cfg_0005_104122063678#446", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the small block on the left and move it to the right', and now you are performing subtask 'pick up the small block from the left'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001780/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9894390142428927, + 0.14494977438427686 + ], + [ + -0.09464053885150342, + 0.9955115109359093 + ], + [ + 0.9952010192686241, + -0.09785157764028038 + ], + [ + 0.0, + -0.9999999989999999 + ] + ] + }, + { + "task_id": "0001801", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0005_cfg_0004_104122062823#115", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle to open the drawer'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001801/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.11467649779591964, + -0.9934028894931113 + ], + [ + 0.9999999998, + 0.0 + ], + [ + -0.9986692518305039, + 0.0515725260996745 + ], + [ + 0.037140901013423176, + 0.9993100387126665 + ] + ] + }, + { + "task_id": "0001802", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0005_cfg_0004_104122062823#230", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle to open the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001802/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5491501943350249, + -0.8357236768584486 + ], + [ + -0.7850052207113765, + -0.6194891471655359 + ], + [ + 0.8682431420167669, + 0.4961389382952954 + ], + [ + -0.5333022333165371, + 0.8459247767618547 + ] + ] + }, + { + "task_id": "0001825", + "id": "RH20T_cfg5_task_0008_user_0007_scene_0001_cfg_0005_037522062165#271", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab the block and place it at the designated location', and now you are performing subtask 'pick up the block from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001825/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.11091250418085687, + 0.9938301748368942 + ], + [ + -0.9999999995, + 0.0 + ], + [ + 0.9991230751717829, + 0.04186980605735016 + ], + [ + -0.008786119451106323, + -0.999961401307566 + ] + ] + }, + { + "task_id": "0001830", + "id": "RH20T_cfg5_task_0123_user_0007_scene_0007_cfg_0005_037522062165#161", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the knife on the knife rack', and now you are performing subtask 'pick up the knife next to the knife rack'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001830/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9927440762967368, + -0.12024640941724186 + ], + [ + -0.2266366165205179, + -0.9739793858455793 + ], + [ + 0.1414213562173095, + 0.9899494935211665 + ], + [ + -0.9776619714988015, + 0.21018341867301663 + ] + ] + }, + { + "task_id": "0001872", + "id": "RH20T_cfg6_task_0039_user_0014_scene_0005_cfg_0006_104122064161#87", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pour the water from a cup into another empty cup', and now you are performing subtask 'pick up the cup with water from the wooden table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001872/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9179960594727881, + 0.39658950413801086 + ], + [ + 0.33754522607442883, + -0.9413093117325265 + ], + [ + -0.31622776596683794, + 0.9486832979005138 + ], + [ + -0.9149441451123685, + -0.40358048927642315 + ] + ] + }, + { + "task_id": "0001878", + "id": "RH20T_cfg5_task_0101_user_0007_scene_0007_cfg_0005_104122063678#203", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'pick up the cloth from above the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001878/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9506345430275491, + -0.3103126900447401 + ], + [ + -0.4306282184375214, + -0.9025294108699874 + ], + [ + -0.9488211301136722, + 0.3158139690542741 + ], + [ + 0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0001886", + "id": "RH20T_cfg6_task_0081_user_0020_scene_0004_cfg_0006_104122064161#105", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold the leg of the glasses (with one hand)', and now you are performing subtask 'fold the leg of the glasses out'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001886/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8100355774393873, + 0.5863807323594786 + ], + [ + -0.554700196071383, + 0.8320502941070744 + ], + [ + 0.5755568701292213, + -0.8177617557987502 + ], + [ + -0.8610054085197053, + -0.508595798743772 + ] + ] + }, + { + "task_id": "0001899", + "id": "RH20T_cfg5_task_0085_user_0007_scene_0002_cfg_0005_104122063678#335", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'remove the bubble ring from the assembled bubble ring and ball', and now you are performing subtask 'pick up the bubble ring to separate it from the assembled bubble ring with the ball'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001899/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + 0.6380600538417985, + 0.769986602280456 + ], + [ + 0.6818286274373605, + -0.7315119430377641 + ], + [ + -0.5944779853322831, + -0.8041118858437983 + ] + ] + }, + { + "task_id": "0001901", + "id": "RH20T_cfg5_task_0023_user_0010_scene_0007_cfg_0005_037522062165#294", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the power strip by pressing the button', and now you are performing subtask 'press the button on the right side of the desktop power strip'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001901/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7378881527799962, + -0.6749230133777667 + ], + [ + -0.5961482360920276, + 0.8028743865663944 + ], + [ + 0.7071067806865474, + -0.7071067806865474 + ], + [ + 0.753341330578275, + 0.6576297131688579 + ] + ] + }, + { + "task_id": "0001935", + "id": "RH20T_cfg4_task_0005_user_0010_scene_0004_cfg_0004_104122062823#86", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'approach and touch the side of the small block', and now you are performing subtask 'press the side of the small block'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001935/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8185803118967189, + -0.5743920899307985 + ], + [ + 0.6757246284965917, + 0.7371541401781 + ], + [ + -0.7518649226461309, + -0.6593171756403193 + ], + [ + -0.7429289227218625, + 0.6693703128936426 + ] + ] + }, + { + "task_id": "0001999", + "id": "RH20T_cfg3_task_0005_user_0016_scene_0010_cfg_0003_104122062823#225", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'approach and touch the side of the small block', and now you are performing subtask 'push the small block to the left'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0001999/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9653574220869938, + -0.26093111662190394 + ], + [ + 0.20952908872355638, + 0.9778024140432631 + ], + [ + -0.2933784583832696, + -0.9559963808282206 + ], + [ + -0.9804417783743269, + 0.19680934738519731 + ] + ] + }, + { + "task_id": "0002002", + "id": "RH20T_cfg2_task_0004_user_0006_scene_0003_cfg_0002_037522062165#281", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the small block on the left and move it to the right', and now you are performing subtask 'pick up the small block on the left'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002002/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9386257077229058, + -0.34493735779366436 + ], + [ + -0.570941573879332, + -0.8209906937451795 + ], + [ + 0.4472135953999579, + 0.8944271907999158 + ], + [ + -0.8767522120149862, + 0.480942365285934 + ] + ] + }, + { + "task_id": "0002004", + "id": "RH20T_cfg3_task_0038_user_0010_scene_0005_cfg_0003_104122062823#175", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the cup', and now you are performing subtask 'pick up the cup from the cloth'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002004/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7071067810198809, + 0.7071067810198809 + ], + [ + 0.7135905593537551, + -0.7005629975963581 + ], + [ + -0.6699940344586818, + -0.7423664821298027 + ], + [ + -0.5882632427542293, + 0.8086694981414093 + ] + ] + }, + { + "task_id": "0002028", + "id": "RH20T_cfg6_task_0014_user_0014_scene_0008_cfg_0006_104122064161#30", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'remove the object from the scale', and now you are performing subtask 'pick up the object on the scale'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002028/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9999999989999999, + 0.0 + ], + [ + -0.1400361868963936, + -0.9901463863285663 + ], + [ + -0.9998348056466343, + -0.018175847093245823 + ], + [ + -0.044197150111325634, + 0.9990228285289766 + ] + ] + }, + { + "task_id": "0002031", + "id": "RH20T_cfg3_task_0062_user_0010_scene_0008_cfg_0003_104122062823#150", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the toilet paper on its holder', and now you are performing subtask 'pick up the tissue paper on the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002031/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5757434984763347, + 0.817630371232766 + ], + [ + 0.8909814912176243, + 0.4540396263627422 + ], + [ + 0.5427685292730203, + -0.8398823272523375 + ], + [ + -0.8479983039152004, + -0.5299989399470002 + ] + ] + }, + { + "task_id": "0002040", + "id": "RH20T_cfg3_task_0018_user_0010_scene_0003_cfg_0003_104122062823#175", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'transfer the wooden block from the block pile to the tabletop', and now you are performing subtask 'pick up the block on the stack of blocks'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002040/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.10658670682501135, + 0.9943034114032795 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.9935490111848865, + 0.11340353774699627 + ], + [ + 0.1185375820255576, + -0.9929495665176223 + ] + ] + }, + { + "task_id": "0002049", + "id": "RH20T_cfg7_task_0016_user_0020_scene_0004_cfg_0007_104122064161#123", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue from the top of the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002049/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.942802456861734, + 0.33335195714961413 + ], + [ + -0.24253562497750944, + 0.9701424999100378 + ], + [ + 0.25426495248127845, + -0.9671345997014548 + ], + [ + -0.9953733607559616, + -0.0960826347337673 + ] + ] + }, + { + "task_id": "0002066", + "id": "RH20T_cfg6_task_0081_user_0020_scene_0009_cfg_0006_104122064161#116", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold the leg of the glasses (with one hand)', and now you are performing subtask 'fold the leg of the glasses outward'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002066/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5952804557327748, + 0.8035180016792282 + ], + [ + -0.8320502941070744, + -0.554700196071383 + ], + [ + 0.7936597312562066, + 0.6083619243364314 + ], + [ + 0.5145252428785363, + -0.8574752325523947 + ] + ] + }, + { + "task_id": "0002078", + "id": "RH20T_cfg6_task_0096_user_0020_scene_0002_cfg_0006_104122064161#74", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle to open the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002078/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0, + -0.9999999989999999 + ], + [ + -0.9987333588626472, + 0.050315781768096646 + ], + [ + 0.13831175515082572, + 0.9903887410441912 + ], + [ + 0.9976616321811239, + -0.06834667273317634 + ] + ] + }, + { + "task_id": "0002079", + "id": "RH20T_cfg6_task_0096_user_0020_scene_0002_cfg_0006_104122064161#305", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pick up the item from the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002079/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5368754921519828, + 0.8436614876674016 + ], + [ + 0.8059174308162698, + 0.5920279509503779 + ], + [ + 0.42305725531938526, + -0.9061029515025478 + ], + [ + -0.887689702492856, + -0.4604421701887709 + ] + ] + }, + { + "task_id": "0002114", + "id": "RH20T_cfg3_task_0005_user_0016_scene_0003_cfg_0003_104122062823#112", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'approach and touch the side of the small block', and now you are performing subtask 'press the side of the small block'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002114/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9890038163456052, + -0.14788999713918577 + ], + [ + 0.20952908872355638, + 0.9778024140432631 + ], + [ + -0.3431951099980359, + -0.9392641356260955 + ], + [ + -0.9850734269821674, + 0.17213466662357302 + ] + ] + }, + { + "task_id": "0002158", + "id": "RH20T_cfg2_task_0096_user_0007_scene_0005_cfg_0002_105422061350#8", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of the drawer, put it on the table', and now you are performing subtask 'pull the drawer handle to pull out the drawer'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002158/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.0678621813616548, + 0.9976947049778494 + ], + [ + 0.999952146862556, + -0.00978284135439967 + ], + [ + -0.12698997327384706, + -0.9919040007419607 + ], + [ + -0.9999999989999999, + 0.0 + ] + ] + }, + { + "task_id": "0002159", + "id": "RH20T_cfg2_task_0096_user_0007_scene_0005_cfg_0002_105422061350#231", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of the drawer, put it on the table', and now you are performing subtask 'pick up the object from the drawer'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002159/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + 0.7486791500117208, + 0.6629325232161469 + ], + [ + 0.7634120270244601, + -0.6459118182804873 + ], + [ + -0.6926963680898104, + -0.7212293266605193 + ] + ] + }, + { + "task_id": "0002168", + "id": "RH20T_cfg4_task_0067_user_0007_scene_0004_cfg_0004_104122062823#91", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press a button from top to bottom', and now you are performing subtask 'press the green switch on the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002168/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9760681902955393, + -0.21746468194442764 + ], + [ + 0.22162110357914494, + 0.9751328557482377 + ], + [ + -0.35689506537808696, + -0.9341444814956469 + ], + [ + -0.9890251296318447, + 0.1477473957696466 + ] + ] + }, + { + "task_id": "0002171", + "id": "RH20T_cfg6_task_0043_user_0014_scene_0007_cfg_0006_104122064161#154", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unscrew the lid from the jar', and now you are performing subtask 'twist the lid counterclockwise'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002171/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.998105726285368, + 0.06152202171871633 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + -0.1056153938181921, + -0.9944070537705514 + ], + [ + -0.9997343242138972, + 0.023049533370164233 + ] + ] + }, + { + "task_id": "0002184", + "id": "RH20T_cfg4_task_0024_user_0014_scene_0007_cfg_0004_038522062288#109", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn off the power strip by pressing the button', and now you are performing subtask 'press the button on the power strip on the desktop'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002184/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9974052935132619, + -0.07199083602601142 + ], + [ + -0.06127076561970924, + -0.9981211816610119 + ], + [ + -0.972521554021176, + 0.23281285824506534 + ], + [ + 0.1643989872918438, + 0.9863939237510627 + ] + ] + }, + { + "task_id": "0002217", + "id": "RH20T_cfg4_task_0034_user_0016_scene_0009_cfg_0004_104122062823#96", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'stack the squares into a pyramid shape', and now you are performing subtask 'pick up the first block on the cardboard'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002217/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.15205718424816075, + 0.9883716976130449 + ], + [ + 0.996429373331782, + 0.08443046820687372 + ], + [ + 0.0619879511346663, + -0.9980768977960197 + ], + [ + -0.9991705227178657, + -0.040721818865409654 + ] + ] + }, + { + "task_id": "0002252", + "id": "RH20T_cfg4_task_0074_user_0015_scene_0006_cfg_0004_104122062823#93", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button horizontally'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002252/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6853646989756331, + 0.7281999926616102 + ], + [ + 0.6743674502260771, + -0.738395925012848 + ], + [ + -0.7337432869620646, + -0.6794268090369303 + ], + [ + -0.8038289910842266, + 0.5948604484183786 + ] + ] + }, + { + "task_id": "0002254", + "id": "RH20T_cfg6_task_0026_user_0014_scene_0007_cfg_0006_104122064161#42", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use the gripper to push and close the drawer', and now you are performing subtask 'push the drawer handle to close the drawer'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002254/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.07454216989279037, + -0.9972178623087707 + ], + [ + -0.990307119130747, + -0.1388949595880308 + ], + [ + -0.022576577370982186, + 0.9997451165943309 + ], + [ + 0.99999999975, + 0.0 + ] + ] + }, + { + "task_id": "0002287", + "id": "RH20T_cfg6_task_0039_user_0014_scene_0002_cfg_0006_104122064161#128", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pour the water from one cup into another empty cup', and now you are performing subtask 'pick up the cup on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002287/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0905834415879667, + 0.9958888693574597 + ], + [ + -0.9999999995, + 0.0 + ], + [ + 0.9961504671415997, + 0.0876598358062157 + ], + [ + 0.13430262072848423, + -0.9909403645353544 + ] + ] + }, + { + "task_id": "0002306", + "id": "RH20T_cfg3_task_0008_user_0016_scene_0009_cfg_0003_104122062823#126", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab the block and place it at the designated location', and now you are performing subtask 'pick up the block from the cardboard'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002306/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9800667317349169, + -0.19866857161221732 + ], + [ + -0.3033774592082304, + -0.9528704619434682 + ], + [ + -0.9337059375371473, + 0.35804081081334427 + ], + [ + 0.2248595066819045, + 0.9743911956215862 + ] + ] + }, + { + "task_id": "0002321", + "id": "RH20T_cfg7_task_0055_user_0020_scene_0007_cfg_0007_104122064161#89", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'transfer a liquid using a dropper', and now you are performing subtask 'pick up the dropper from the cup'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002321/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.8112063096381781, + -0.5847600560941286 + ], + [ + -0.5840150944327671, + 0.8117427976118335 + ], + [ + 0.59999999988, + -0.79999999984 + ], + [ + 0.8457598243465615, + 0.5335637914263613 + ] + ] + }, + { + "task_id": "0002335", + "id": "RH20T_cfg6_task_0038_user_0014_scene_0006_cfg_0006_104122064161#85", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up the cup', and now you are performing subtask 'pick up the cup on the surface'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002335/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9914630590471262, + -0.1303878926316199 + ], + [ + -0.1908898948240139, + -0.9816114547284364 + ], + [ + -0.9956604724755553, + 0.09306032210213959 + ], + [ + 0.13216372008228433, + 0.9912279006171324 + ] + ] + }, + { + "task_id": "0002352", + "id": "RH20T_cfg7_task_0042_user_0020_scene_0003_cfg_0007_104122064161#125", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'screw the lid onto the jar (needs to be rotated)', and now you are performing subtask 'pick up the lid from the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002352/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.790064962507727, + -0.6130231276368486 + ], + [ + 0.4961389382952954, + 0.8682431420167669 + ], + [ + -0.5869414271998397, + -0.8096293973396812 + ], + [ + -0.9072559881828173, + 0.420578853375226 + ] + ] + }, + { + "task_id": "0002389", + "id": "RH20T_cfg4_task_0011_user_0016_scene_0002_cfg_0004_104122062823#134", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the watering can from the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002389/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.13014340752186382, + -0.9914951807641822 + ], + [ + -0.9953383359145758, + 0.09644478761863239 + ], + [ + 0.9999999999, + 0.0 + ], + [ + 0.07474934351465988, + 0.9972023544116447 + ] + ] + }, + { + "task_id": "0002415", + "id": "RH20T_cfg6_task_0225_user_0014_scene_0006_cfg_0006_104122064161#149", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the cup into the microwave', and now you are performing subtask 'pull the microwave door'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002415/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.24483636558831126, + -0.9695644146138548 + ], + [ + 0.9284766907128456, + 0.3713906762851382 + ], + [ + -0.9677122702754043, + -0.2520574576528592 + ], + [ + -0.43261649040801925, + 0.9015780455551523 + ] + ] + }, + { + "task_id": "0002431", + "id": "RH20T_cfg3_task_0073_user_0010_scene_0010_cfg_0003_104122062823#140", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pick up the small square from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002431/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.4899374326402779, + 0.8717575993920863 + ], + [ + 0.750232591317961, + 0.6611740004902926 + ], + [ + 0.4384950302142965, + -0.8987336137462332 + ], + [ + -0.8320502941070744, + -0.554700196071383 + ] + ] + }, + { + "task_id": "0002432", + "id": "RH20T_cfg3_task_0073_user_0010_scene_0010_cfg_0003_104122062823#215", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the small square in the drawer'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002432/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8197484185910818, + -0.572723781780904 + ], + [ + -0.6344245752373247, + -0.7729847723823157 + ], + [ + 0.6770565308009526, + 0.735931011740166 + ], + [ + -0.826450069922049, + 0.5630100193831729 + ] + ] + }, + { + "task_id": "0002524", + "id": "RH20T_cfg4_task_0013_user_0016_scene_0007_cfg_0004_104122062823#121", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'pick up the block from the desktop'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002524/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9347345567219904, + -0.35534674399766814 + ], + [ + -0.42756465433470026, + -0.9039847710905579 + ], + [ + -0.8795901017707198, + 0.475732333215827 + ], + [ + 0.4472135953999579, + 0.8944271907999158 + ] + ] + }, + { + "task_id": "0002533", + "id": "RH20T_cfg6_task_0007_user_0014_scene_0007_cfg_0006_104122064161#83", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'sweeping a small block with the gripper from left to right on the table', and now you are performing subtask 'slide the block from the left side of the table to the right side'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002533/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9971032625051348, + 0.07605973903200229 + ], + [ + 0.06254709703771714, + -0.9980420134704523 + ], + [ + 0.0, + 0.9999999995 + ], + [ + -0.9976633815614621, + -0.06832113209943654 + ] + ] + }, + { + "task_id": "0002548", + "id": "RH20T_cfg4_task_0035_user_0017_scene_0005_cfg_0004_104122062823#106", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up the small piece on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002548/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.16439898729634828, + 0.9863939237780897 + ], + [ + 0.9987804978241926, + -0.04937121799244938 + ], + [ + -0.08361268127717157, + -0.9964983289146261 + ], + [ + -0.9919950415294959, + 0.1262768291528327 + ] + ] + }, + { + "task_id": "0002575", + "id": "RH20T_cfg2_task_0002_user_0013_scene_0006_cfg_0002_036422060215#125", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin, place the napkin on the table', and now you are performing subtask 'pick up a napkin on the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002575/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.1372852317595975, + 0.990531556862634 + ], + [ + 0.9972398632499685, + 0.07424725681925365 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + -0.09077228137886818, + -0.9958716749327071 + ] + ] + }, + { + "task_id": "0002598", + "id": "RH20T_cfg3_task_0077_user_0010_scene_0009_cfg_0003_104122062823#195", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'stacking blocks (small Lego) one at a time randomly', and now you are performing subtask 'pick up the orange small Lego block on the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002598/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.8944271905999158, + 0.4472135952999579 + ], + [ + 0.42701703992516926, + 0.9042435775904335 + ], + [ + 0.8995700626762185, + -0.4367764901373518 + ], + [ + -0.468342456390425, + -0.883547023956384 + ] + ] + }, + { + "task_id": "0002607", + "id": "RH20T_cfg4_task_0016_user_0016_scene_0006_cfg_0004_104122062823#113", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue from one side of the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002607/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9201040862650385, + -0.3916739338255468 + ], + [ + -0.3957057102312593, + -0.9183773684550239 + ], + [ + -0.8698559120742057, + 0.4933058810003708 + ], + [ + 0.40613846601221054, + 0.9138115485274737 + ] + ] + }, + { + "task_id": "0002608", + "id": "RH20T_cfg4_task_0016_user_0016_scene_0006_cfg_0004_104122062823#204", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'place the cue on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002608/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.11783547680891085, + -0.9930331315747812 + ], + [ + -0.9999978089540005, + 0.002093343545225757 + ], + [ + 0.9999999996666666, + 0.0 + ], + [ + 0.04082868517691904, + 0.9991661615901151 + ] + ] + }, + { + "task_id": "0002609", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0005_cfg_0004_104122062823#211", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'pick up the lamp holder from the table'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002609/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.949170455445253, + 0.3147625239920583 + ], + [ + 0.20671608128981905, + -0.9784009718597897 + ], + [ + -0.19611613511895326, + 0.9805806755947664 + ], + [ + -0.9739008316897099, + -0.22697394131065202 + ] + ] + }, + { + "task_id": "0002610", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0005_cfg_0004_104122062823#410", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'insert the lamp holder into the socket'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002610/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9103220393491261, + 0.41390069421933556 + ], + [ + 0.5692759955728295, + -0.8221464838242416 + ], + [ + -0.854341846757631, + -0.5197114669494608 + ], + [ + -0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0002615", + "id": "RH20T_cfg4_task_0002_user_0010_scene_0007_cfg_0004_104122062823#103", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the napkin from the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002615/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.06581752001259591, + 0.997831676215679 + ], + [ + -0.999999999875, + 0.0 + ], + [ + 0.999863090505387, + -0.016546910437188672 + ], + [ + -0.04252268274236338, + -0.9990955016675795 + ] + ] + }, + { + "task_id": "0002659", + "id": "RH20T_cfg4_task_0019_user_0016_scene_0005_cfg_0004_038522062288#141", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the first move as black on the 3-4 point in the upper right corner of the Go board', and now you are performing subtask 'pick up the black piece from the left bowl'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002659/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.12403473457382384, + 0.9922778765905907 + ], + [ + 0.971979591279902, + -0.2350652550577277 + ], + [ + -0.03928356879552674, + -0.9992281026986217 + ], + [ + -0.9765222654235295, + 0.21541649224722353 + ] + ] + }, + { + "task_id": "0002660", + "id": "RH20T_cfg4_task_0019_user_0016_scene_0005_cfg_0004_038522062288#205", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the first move as black on the 3-4 point in the upper right corner of the Go board', and now you are performing subtask 'pick up the black piece from the left bowl'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002660/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.35712320603679715, + -0.9340572871671198 + ], + [ + 0.8944271905999158, + 0.4472135952999579 + ], + [ + -0.9489697650026009, + -0.31536706408708676 + ], + [ + -0.3700083842682364, + 0.9290284148352025 + ] + ] + }, + { + "task_id": "0002703", + "id": "RH20T_cfg4_task_0055_user_0010_scene_0005_cfg_0004_104122062823#132", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'transfer liquid using a dropper', and now you are performing subtask 'pick up the dropper from the large beaker'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002703/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.765010338661412, + -0.644017997994739 + ], + [ + 0.7071067806865474, + -0.7071067806865474 + ], + [ + -0.7125878863046358, + 0.701582856326957 + ], + [ + 0.6912842699382128, + 0.7225829074479913 + ] + ] + }, + { + "task_id": "0002709", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0004_cfg_0004_038522062288#89", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the handle of the drawer to the outside'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002709/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9467756494302905, + 0.32189419013994586 + ], + [ + -0.1961161350997225, + 0.9805806754986125 + ], + [ + 0.29413876530854394, + -0.9557627251273013 + ], + [ + -0.9953026272464418, + -0.09681260349939128 + ] + ] + }, + { + "task_id": "0002710", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0004_cfg_0004_038522062288#408", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the handle of the drawer to the outside'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002710/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9945782938385779, + -0.10399046795328638 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.09028892638159769, + -0.9959156137810364 + ], + [ + -0.9966601534066645, + 0.08166112056177093 + ] + ] + }, + { + "task_id": "0002716", + "id": "RH20T_cfg5_task_0101_user_0007_scene_0010_cfg_0005_105422061350#180", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'pick up the cloth on the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002716/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9973384397865882, + 0.07291115500425115 + ], + [ + 0.008484046298016808, + -0.9999640098315604 + ], + [ + -0.9806067791640856, + -0.195985572574714 + ], + [ + -0.1643989872918438, + 0.9863939237510627 + ] + ] + }, + { + "task_id": "0002718", + "id": "RH20T_cfg4_task_0001_user_0010_scene_0004_cfg_0004_104122062823#145", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'press the button from top to bottom', and now you are performing subtask 'press the button on the surface from top to bottom'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002718/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0, + -0.9999999989999999 + ], + [ + -0.9900797410122867, + -0.14050660638220325 + ], + [ + 0.09080517485274164, + 0.9958686761917773 + ], + [ + 0.9980314238002044, + -0.06271584414912264 + ] + ] + }, + { + "task_id": "0002720", + "id": "RH20T_cfg5_task_0118_user_0007_scene_0009_cfg_0005_037522062165#174", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'turn the faucet handle counterclockwise'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002720/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.13518648794551752, + 0.9908201721185114 + ], + [ + 0.9954997167862836, + 0.09476451803512413 + ], + [ + 0.008782411454373489, + -0.9999614338808503 + ], + [ + -0.9999999989999999, + 0.0 + ] + ] + }, + { + "task_id": "0002734", + "id": "RH20T_cfg4_task_0033_user_0016_scene_0008_cfg_0004_104122062823#100", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grasp a small block to sweep another small block into the designated position', and now you are performing subtask 'push the large square to the side of the small square and push it to the left side of the cardboard'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002734/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9284147405783824, + 0.37154551467724006 + ], + [ + -0.49613893833632106, + 0.8682431420885618 + ], + [ + 0.41713813356522716, + -0.9088430984090261 + ], + [ + -0.8478764674184516, + -0.5301938287060756 + ] + ] + }, + { + "task_id": "0002740", + "id": "RH20T_cfg4_task_0064_user_0016_scene_0003_cfg_0004_104122062823#99", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the roll of paper down from the shelf', and now you are performing subtask 'pick up the roll of paper from the shelf'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002740/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5446422413208346, + -0.8386684857373727 + ], + [ + -0.9104459997515221, + -0.41362795062284113 + ], + [ + 0.8865848461312794, + 0.4625660066771892 + ], + [ + -0.3645570340228864, + 0.9311810613110836 + ] + ] + }, + { + "task_id": "0002761", + "id": "RH20T_cfg5_task_0002_user_0014_scene_0003_cfg_0005_104122063678#195", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the napkin on the surface'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002761/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9999393233201336, + 0.011015882991083473 + ], + [ + -0.0407257405404498, + 0.9991703628798404 + ], + [ + 0.9886344103778776, + 0.15033962424053937 + ], + [ + 0.0, + -0.9999999989999999 + ] + ] + }, + { + "task_id": "0002802", + "id": "RH20T_cfg3_task_0091_user_0010_scene_0010_cfg_0003_104122062823#165", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move an object from one box to another', and now you are performing subtask 'pick up the basketball from the black box'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002802/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9847951239415296, + 0.17371978546206993 + ], + [ + 0.3090765475086815, + -0.9510371642475985 + ], + [ + -0.9811323265186876, + -0.1933374197097587 + ], + [ + -0.2425356250216271, + 0.9701425000865084 + ] + ] + }, + { + "task_id": "0002807", + "id": "RH20T_cfg7_task_0064_user_0020_scene_0009_cfg_0007_104122064161#124", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the roll of paper down from the shelf', and now you are performing subtask 'take the roll of paper down from the shelf'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002807/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.3931167773925674, + -0.9194885531274888 + ], + [ + -0.9281576475999549, + -0.3721872931760541 + ], + [ + 0.9284766907128456, + 0.3713906762851382 + ], + [ + -0.4130453252499447, + 0.9107104695177098 + ] + ] + }, + { + "task_id": "0002825", + "id": "RH20T_cfg4_task_0032_user_0016_scene_0002_cfg_0004_104122062823#99", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'slide the outer casing onto the gift box', and now you are performing subtask 'pick up the outer casing from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002825/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7866909125921977, + -0.6173470725976232 + ], + [ + -0.5022145303316846, + -0.8647430632989925 + ], + [ + 0.5547001962032511, + 0.8320502943048766 + ], + [ + -0.8336772573640359, + 0.5522519629245143 + ] + ] + }, + { + "task_id": "0002831", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0008_cfg_0005_104122063678#212", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the first block out of the box and place it on the table, then take the second block and place it on top of the first block', and now you are performing subtask 'pick up the first block in the box'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002831/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8972904087106552, + 0.4414407349077169 + ], + [ + -0.31622776591683793, + 0.9486832977505137 + ], + [ + 0.28891020429430503, + -0.9573562000920154 + ], + [ + -0.9679049693695927, + -0.2513164743299731 + ] + ] + }, + { + "task_id": "0002832", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0008_cfg_0005_104122063678#447", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the first block out of the box and place it on the table, then take the second block and place it on top of the first block', and now you are performing subtask 'place the first block on the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002832/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.4472135952999579, + 0.8944271905999158 + ], + [ + 0.9427244281389925, + -0.3335725597077936 + ], + [ + -0.36794063719504205, + -0.9298492821422762 + ], + [ + -0.905468504585468, + 0.4244134625618707 + ] + ] + }, + { + "task_id": "0002861", + "id": "RH20T_cfg4_task_0125_user_0007_scene_0004_cfg_0004_104122062823#96", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pick up the joystick on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002861/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9978286426696477, + -0.06586349419859813 + ], + [ + -0.15957172661995667, + -0.9871863370526994 + ], + [ + -0.9992211872208593, + 0.03945908018360866 + ], + [ + 0.057049790536885615, + 0.9983713343954983 + ] + ] + }, + { + "task_id": "0002866", + "id": "RH20T_cfg2_task_0015_user_0006_scene_0003_cfg_0002_037522062165#359", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumsticks on the surface'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002866/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9999997597714867, + -0.0006931500334482541 + ], + [ + 0.07529546936048359, + -0.9971612669442113 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.9905337447240671, + 0.13726944511768374 + ] + ] + }, + { + "task_id": "0002880", + "id": "RH20T_cfg2_task_0011_user_0013_scene_0001_cfg_0002_105422061350#274", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the watering can to the center of the table', and now you are performing subtask 'pull the watering can to the middle of the table'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002880/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.7776179477583054, + 0.6287370891908329 + ], + [ + 0.5444352663007389, + -0.8388028617071138 + ], + [ + -0.8731893112035134, + -0.4873811924971395 + ], + [ + -0.554700196071383, + 0.8320502941070744 + ] + ] + }, + { + "task_id": "0002884", + "id": "RH20T_cfg2_task_0062_user_0007_scene_0001_cfg_0002_105422061350#198", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the toilet paper on its holder', and now you are performing subtask 'pick up the toilet paper from the surface'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002884/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.4719787202425838, + -0.8816099407550785 + ], + [ + -0.9059617241624701, + -0.42335960406321765 + ], + [ + -0.5389100742479072, + 0.8423633015950512 + ], + [ + 0.8944271905999158, + 0.4472135952999579 + ] + ] + }, + { + "task_id": "0002890", + "id": "RH20T_cfg3_task_0069_user_0010_scene_0005_cfg_0003_104122062823#242", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up a piece of puzzle from the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002890/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9946696959822285, + 0.10311253994845204 + ], + [ + 0.0, + 0.9999999995 + ], + [ + -0.13285124692698538, + -0.9911359877382847 + ], + [ + -0.9909378839894869, + 0.13432092195350026 + ] + ] + }, + { + "task_id": "0002903", + "id": "RH20T_cfg3_task_0038_user_0010_scene_0003_cfg_0003_104122062823#139", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the cup to the top of the cup rack and then place it down', and now you are performing subtask 'pick up the cup from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002903/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9486832977505137, + 0.31622776591683793 + ], + [ + 0.19055775490473104, + 0.9816759862834928 + ], + [ + 0.8890048068392205, + -0.4578978635206333 + ], + [ + -0.3633733495026096, + -0.9316436061452118 + ] + ] + }, + { + "task_id": "0002933", + "id": "RH20T_cfg2_task_0005_user_0013_scene_0002_cfg_0002_105422061350#177", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'push the block a little to the right', and now you are performing subtask 'push the block to the right a bit'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002933/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9972625893580401, + -0.07394138128880974 + ], + [ + 0.1480478396223942, + -0.9889802006021869 + ], + [ + -0.9933221658517379, + 0.11537363142248915 + ], + [ + 0.0, + 0.9999999998 + ] + ] + }, + { + "task_id": "0002975", + "id": "RH20T_cfg5_task_0004_user_0014_scene_0007_cfg_0005_104122063678#240", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the large block to the left', and now you are performing subtask 'pick up the large block from the desktop'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002975/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.46385840320220223, + 0.885909353025863 + ], + [ + 0.8144582285695848, + -0.5802221935735429 + ], + [ + -0.8944271905999158, + 0.4472135952999579 + ], + [ + -0.5050060554583446, + -0.8631157998498251 + ] + ] + }, + { + "task_id": "0002978", + "id": "RH20T_cfg5_task_0080_user_0007_scene_0010_cfg_0005_104122063678#251", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'flip over and spread out the paper that is laid flat on the table', and now you are performing subtask 'pick up the paper on the table'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002978/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8943135960087918, + 0.4474407133842691 + ], + [ + 0.33032163960106137, + -0.9438684306677847 + ], + [ + -0.31622776591683793, + 0.9486832977505137 + ], + [ + -0.9539839363296391, + -0.29985771496662744 + ] + ] + }, + { + "task_id": "0002982", + "id": "RH20T_cfg3_task_0007_user_0016_scene_0004_cfg_0003_104122062823#194", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the small block to the specified position', and now you are performing subtask 'pick up the small block from the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002982/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9985951239051319, + 0.052988475283727486 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + 0.10196412966504799, + -0.9947880760552216 + ], + [ + -0.9990614402738296, + 0.04331556946389047 + ] + ] + }, + { + "task_id": "0002984", + "id": "RH20T_cfg2_task_0071_user_0014_scene_0003_cfg_0002_105422061350#149", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the handle of the sliding window to close the window'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002984/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9019264056930321, + 0.43188975296208204 + ], + [ + 0.32282184469051944, + -0.9464597490599429 + ], + [ + -0.4472135952999579, + 0.8944271905999158 + ], + [ + -0.8205260600835884, + -0.5716091188248342 + ] + ] + }, + { + "task_id": "0002994", + "id": "RH20T_cfg4_task_0014_user_0010_scene_0005_cfg_0004_104122062823#91", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'remove the object from the scale', and now you are performing subtask 'pick up the object from the scale'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0002994/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9985279029995882, + -0.054240454747771304 + ], + [ + 0.18787717727713632, + -0.9821925301377401 + ], + [ + -0.0712470499828335, + 0.997458699759669 + ], + [ + -0.9821140884485482, + -0.1882867952642383 + ] + ] + }, + { + "task_id": "0003110", + "id": "RH20T_cfg5_task_0043_user_0007_scene_0002_cfg_0005_104122063678#342", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unscrewing the lid from the jar', and now you are performing subtask 'pick up the jar on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003110/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0, + 0.9999999989999999 + ], + [ + 0.9999686218269995, + 0.007921828160921157 + ], + [ + -0.020359304825903094, + -0.9997927278726356 + ], + [ + -0.9999318420083108, + -0.01167524465982181 + ] + ] + }, + { + "task_id": "0003122", + "id": "RH20T_cfg5_task_0010_user_0010_scene_0009_cfg_0005_104122063678#342", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the handset of the telephone on the corresponding phone cradle', and now you are performing subtask 'pick up the handset of the telephone from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003122/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.0, + 0.9999999995 + ], + [ + 0.9911652489728041, + -0.1326327607670111 + ], + [ + 0.10062829686925644, + -0.9949240905060007 + ], + [ + -0.9998474310601589, + 0.017467529945607522 + ] + ] + }, + { + "task_id": "0003136", + "id": "RH20T_cfg3_task_0092_user_0010_scene_0007_cfg_0003_104122062823#112", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'turn the hands of a clock clockwise'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003136/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.3939192985533056, + 0.919145029957713 + ], + [ + 0.9177102149004701, + 0.39725050216120944 + ], + [ + 0.4026825565042297, + -0.9153396957890649 + ], + [ + -0.9105812998377285, + -0.4133300090555157 + ] + ] + }, + { + "task_id": "0003145", + "id": "RH20T_cfg7_task_0036_user_0020_scene_0001_cfg_0007_104122064161#119", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'shake the test tube', and now you are performing subtask 'shake the test tube on the shelf'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003145/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.11043152606265141, + 0.9938837345638627 + ], + [ + 0.9865956265511493, + -0.1631841587598048 + ], + [ + -0.24572462040139104, + -0.9693396777851365 + ], + [ + -0.9980834311015024, + 0.061882667691790245 + ] + ] + }, + { + "task_id": "0003146", + "id": "RH20T_cfg7_task_0044_user_0014_scene_0005_cfg_0007_104122064161#63", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up the items in the bag from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003146/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9102446047475166, + -0.41407095953234563 + ], + [ + -0.43359358256036074, + -0.9011085423868047 + ], + [ + -0.8786317423473005, + 0.47750001187408053 + ], + [ + 0.5098023902854892, + 0.8602915336067631 + ] + ] + }, + { + "task_id": "0003213", + "id": "RH20T_cfg3_task_0008_user_0016_scene_0007_cfg_0003_104122062823#333", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab the block and place it at the designated location', and now you are performing subtask 'pick up the block on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003213/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6022096199301993, + -0.7983380071520615 + ], + [ + -0.7803000522508463, + -0.6254053313310708 + ], + [ + -0.7857115090537, + 0.6185931009480767 + ], + [ + 0.7071067811508333, + 0.7071067811508333 + ] + ] + }, + { + "task_id": "0003243", + "id": "RH20T_cfg5_task_0008_user_0010_scene_0010_cfg_0005_104122063678#319", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab the block and place it at the black dot', and now you are performing subtask 'pick up the small square block from the right side of the cardboard'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003243/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9952484679963488, + -0.09736779216414795 + ], + [ + 0.0, + 0.9999999989999999 + ], + [ + -0.143554083591493, + -0.9896424733630862 + ], + [ + -0.9999675567373022, + 0.008055151943351404 + ] + ] + }, + { + "task_id": "0003291", + "id": "RH20T_cfg5_task_0010_user_0010_scene_0005_cfg_0005_104122063678#385", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the handset of the telephone on the corresponding phone cradle', and now you are performing subtask 'pick up the handset of the telephone from the table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003291/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.1070185038632979, + 0.9942570290578092 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.9965450206691853, + -0.08305433028718709 + ], + [ + -0.13596477186483286, + -0.9907136724663408 + ] + ] + }, + { + "task_id": "0003338", + "id": "RH20T_cfg4_task_0046_user_0014_scene_0015_cfg_0004_104122062823#128", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the cup on the cup rack', and now you are performing subtask 'pick up the cup from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003338/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.04061686356711874, + 0.999174794715104 + ], + [ + -0.9999999995, + 0.0 + ], + [ + 0.993052629124814, + 0.11767104906600802 + ], + [ + 0.1346153995856763, + -0.9908979231961226 + ] + ] + }, + { + "task_id": "0003346", + "id": "RH20T_cfg5_task_0082_user_0007_scene_0004_cfg_0005_104122063678#252", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'scoop water with a large spoon from one bowl to another', and now you are performing subtask 'pick up the large spoon from the bowl'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003346/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.46105795726833226, + 0.8873700243075335 + ], + [ + 0.9520576619797353, + -0.30591863013827714 + ], + [ + -0.5745436515609188, + -0.8184739412168512 + ], + [ + -0.8944271905999158, + 0.4472135952999579 + ] + ] + }, + { + "task_id": "0003359", + "id": "RH20T_cfg6_task_0130_user_0014_scene_0004_cfg_0006_104122064161#176", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb', and now you are performing subtask 'pick up the lamp holder and the light bulb from the table'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003359/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.46788772039470844, + -0.8837879163011159 + ], + [ + -0.8455378407901276, + -0.5339154987373645 + ], + [ + -0.45529129324159207, + 0.8903425398678863 + ], + [ + 0.8823683011121343, + 0.4705594342827334 + ] + ] + }, + { + "task_id": "0003374", + "id": "RH20T_cfg5_task_0048_user_0010_scene_0010_cfg_0005_104122063678#186", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'pick up the steering wheel on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003374/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9965050586975911, + 0.08353243675429657 + ], + [ + 0.0, + 0.9999999998888889 + ], + [ + -0.11493069418382679, + -0.9933735125995778 + ], + [ + -0.9983345498024003, + 0.0576899182772757 + ] + ] + }, + { + "task_id": "0003411", + "id": "RH20T_cfg6_task_0039_user_0014_scene_0003_cfg_0006_104122064161#147", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pour the water from one cup into another empty cup', and now you are performing subtask 'pick up the cup containing water from the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003411/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.44721359543329126, + 0.8944271908665825 + ], + [ + 0.9392377993062452, + -0.3432671792559866 + ], + [ + -0.42744869583601186, + -0.9040396077761708 + ], + [ + -0.8412170165535366, + 0.540697633674096 + ] + ] + }, + { + "task_id": "0003413", + "id": "RH20T_cfg5_task_0025_user_0010_scene_0006_cfg_0005_104122063678#173", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (one end is pressed down by a heavy object)', and now you are performing subtask 'smoothly unfold the paper'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003413/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9667590566066036, + 0.2556891207484394 + ], + [ + -0.2060104810392318, + 0.9785497849363511 + ], + [ + 0.07978796499050801, + -0.9968118581972596 + ], + [ + -0.9772435902827614, + -0.21212016700742603 + ] + ] + }, + { + "task_id": "0003425", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0010_cfg_0005_104122063678#224", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'pick up the object in the container'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003425/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7071067806865474, + 0.7071067806865474 + ], + [ + 0.7174487667352799, + 0.6966112740331053 + ], + [ + 0.6154284003958237, + -0.7881927962029581 + ], + [ + -0.7429162038675086, + -0.6693844291818346 + ] + ] + }, + { + "task_id": "0003426", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0010_cfg_0005_104122063678#436", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'place the object on the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003426/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.6615497066019345, + 0.7499013173044135 + ], + [ + -0.7071067809365474, + 0.7071067809365474 + ], + [ + 0.7513241741720174, + -0.6599333188320894 + ], + [ + -0.8013200537873252, + -0.5982358827404775 + ] + ] + }, + { + "task_id": "0003432", + "id": "RH20T_cfg6_task_0126_user_0014_scene_0006_cfg_0006_104122064161#95", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the power cord to the socket', and now you are performing subtask 'pick up the power plug on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003432/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9271832569194651, + -0.37460807264154533 + ], + [ + 0.35112344154729586, + 0.9363291774594555 + ], + [ + -0.3877318226780064, + -0.9217722244040504 + ], + [ + -0.9645938413834837, + 0.26373987405217025 + ] + ] + }, + { + "task_id": "0003466", + "id": "RH20T_cfg5_task_0118_user_0010_scene_0004_cfg_0005_104122063678#202", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn the water tap handle counterclockwise', and now you are performing subtask 'turn the tap handle counterclockwise'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003466/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.006094037946749445, + -0.9999814311783513 + ], + [ + -0.9970671038446427, + 0.07653228358579492 + ], + [ + -0.029127479726764174, + 0.9995757049492384 + ], + [ + 0.9965457582035003, + -0.08304547985029169 + ] + ] + }, + { + "task_id": "0003487", + "id": "RH20T_cfg5_task_0038_user_0007_scene_0009_cfg_0005_104122063678#284", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'move the red cup from the cube to the table', and now you are performing subtask 'pick up the red cup from the Rubik's cube'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003487/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8365093498165335, + 0.547952650937579 + ], + [ + 0.5568596711587982, + -0.8306065895698849 + ], + [ + -0.8871920870711367, + -0.46140026076971474 + ], + [ + -0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0003494", + "id": "RH20T_cfg4_task_0047_user_0014_scene_0005_cfg_0004_104122062823#110", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'pick up the cup from the cup rack'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003494/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9999999995, + 0.0 + ], + [ + 0.09153305852114195, + -0.9958020381570653 + ], + [ + -0.9980346947496785, + -0.06266377004231441 + ], + [ + -0.04646037639202288, + 0.9989201336570965 + ] + ] + }, + { + "task_id": "0003498", + "id": "RH20T_cfg3_task_0023_user_0010_scene_0003_cfg_0003_104122062823#111", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the power strip by pressing the button', and now you are performing subtask 'press the button on the socket'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003498/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8841084819985741, + -0.4672817052466072 + ], + [ + -0.537462615406549, + -0.8432875767141077 + ], + [ + 0.4472135952999579, + 0.8944271905999158 + ], + [ + -0.9020314769754896, + 0.43167026136325054 + ] + ] + }, + { + "task_id": "0003531", + "id": "RH20T_cfg4_task_0011_user_0016_scene_0001_cfg_0004_104122062823#102", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the watering can on the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003531/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.29408584881590144, + 0.9557790086516798 + ], + [ + 0.9002866934537722, + -0.43529744955613253 + ], + [ + -0.24267613566852408, + -0.9701073616754963 + ], + [ + -0.9517939694082638, + 0.3067380638232908 + ] + ] + }, + { + "task_id": "0003532", + "id": "RH20T_cfg4_task_0120_user_0007_scene_0004_cfg_0004_104122062823#115", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'install the light bulb by rotating it', and now you are performing subtask 'pick up the light bulb on the black frame'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003532/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.11043152606874898, + 0.9938837346187408 + ], + [ + 0.9787411028849234, + 0.20509961853597797 + ], + [ + 0.0467150973381131, + -0.9989082538855562 + ], + [ + -0.9865122902252635, + -0.16368720546977827 + ] + ] + }, + { + "task_id": "0003535", + "id": "RH20T_cfg3_task_0092_user_0010_scene_0003_cfg_0003_104122062823#127", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn the hands of the clock clockwise', and now you are performing subtask 'turn the hands of a clock clockwise'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003535/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.849252763398145, + 0.527986499695413 + ], + [ + 0.2960348202941485, + -0.9551771485820896 + ], + [ + -0.40613846601221054, + 0.9138115485274737 + ], + [ + -0.8573416968396742, + -0.5147477196259039 + ] + ] + }, + { + "task_id": "0003543", + "id": "RH20T_cfg3_task_0018_user_0011_scene_0004_cfg_0003_038522062288#122", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the stack of blocks from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003543/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9946202601710737, + 0.10358831042750737 + ], + [ + -0.01566894129243496, + -0.9998772346037159 + ], + [ + -0.9933292028119365, + -0.11531302979716858 + ], + [ + 0.0, + 0.9999999998571428 + ] + ] + }, + { + "task_id": "0003597", + "id": "RH20T_cfg1_task_0013_user_0001_scene_0005_cfg_0001_819112070044#223", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'pick up the block from the tabletop'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003597/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9979787660464307, + -0.06354826921674277 + ], + [ + 0.0, + 0.9999999995 + ], + [ + 0.07974701704683626, + -0.9968151349533833 + ], + [ + -0.9996743721448386, + -0.025517634624373405 + ] + ] + }, + { + "task_id": "0003602", + "id": "RH20T_cfg4_task_0012_user_0010_scene_0005_cfg_0004_104122062823#129", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'push the soccer ball into the goal', and now you are performing subtask 'push the soccer ball toward the goal'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003602/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.04457566065597092, + -0.9990060112317062 + ], + [ + -0.9948991402111644, + 0.10087467872110395 + ], + [ + -0.10873169007740796, + 0.9940711340607928 + ], + [ + 0.9999999989999999, + 0.0 + ] + ] + }, + { + "task_id": "0003605", + "id": "RH20T_cfg2_task_0073_user_0014_scene_0003_cfg_0002_105422061350#192", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the block in the drawer, close the drawer', and now you are performing subtask 'push the drawer to close it'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003605/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.705012506575776, + 0.7091948713659325 + ], + [ + 0.8400470268245587, + -0.5425135875931765 + ], + [ + -0.7098017625149566, + -0.7044014891598833 + ], + [ + -0.7808688093210792, + 0.6246950474568633 + ] + ] + }, + { + "task_id": "0003609", + "id": "RH20T_cfg3_task_0043_user_0010_scene_0006_cfg_0003_104122062823#157", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'unscrew the lid from the cup', and now you are performing subtask 'twist the lid counterclockwise to unscrew it from the cup'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003609/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.18605863484164714, + -0.9825386427010709 + ], + [ + -0.9698767932694077, + -0.24359598904220633 + ], + [ + 0.9751328557482377, + 0.22162110357914494 + ], + [ + -0.30289332538292824, + 0.9530244663378121 + ] + ] + }, + { + "task_id": "0003611", + "id": "RH20T_cfg4_task_0082_user_0015_scene_0005_cfg_0004_104122062823#92", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'scooping with a large spoon from a white bowl to a red bowl', and now you are performing subtask 'pick up the large spoon from the white bowl'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003611/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.12546652810499678, + 0.9920978532006196 + ], + [ + 0.9933332658876971, + 0.11527802427558201 + ], + [ + -0.99999999996, + 0.0 + ], + [ + -0.07252823598861848, + -0.9973663594609452 + ] + ] + }, + { + "task_id": "0003620", + "id": "RH20T_cfg5_task_0052_user_0007_scene_0010_cfg_0005_104122063678#205", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'grab a basketball, release it and shoot it into the basket', and now you are performing subtask 'pick up the basketball from the table'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003620/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.009957070967237084, + 0.9999504271401425 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.9927916225484058, + -0.11985321938814926 + ], + [ + 0.10301397596145007, + -0.9946799086925471 + ] + ] + }, + { + "task_id": "0003636", + "id": "RH20T_cfg5_task_0083_user_0007_scene_0005_cfg_0005_104122063678#313", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter from the table'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003636/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8784940319659656, + -0.4777533210770815 + ], + [ + 0.59999999988, + 0.79999999984 + ], + [ + -0.6238193081375304, + -0.7815685963463558 + ], + [ + -0.7376544247260941, + 0.6751784576554669 + ] + ] + }, + { + "task_id": "0003659", + "id": "RH20T_cfg3_task_0023_user_0010_scene_0004_cfg_0003_104122062823#288", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the power strip by pressing the button', and now you are performing subtask 'press the button on the power strip'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003659/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.38662570981118466, + 0.9222367160946248 + ], + [ + 0.7863983573110085, + -0.6177196966412415 + ], + [ + -0.8574929255654853, + 0.5144957553392911 + ], + [ + -0.4792365443722147, + -0.8776857834887029 + ] + ] + }, + { + "task_id": "0003675", + "id": "RH20T_cfg5_task_0020_user_0010_scene_0007_cfg_0005_104122063678#287", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn on the desk lamp by pressing the button', and now you are performing subtask 'press the button on the desk lamp'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003675/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.07117460202614924, + 0.9974638720406968 + ], + [ + 0.998329462731711, + 0.05777788367371541 + ], + [ + 0.10278729567295761, + -0.9947033587196938 + ], + [ + -0.9999999998888889, + 0.0 + ] + ] + }, + { + "task_id": "0003690", + "id": "RH20T_cfg2_task_0018_user_0003_scene_0010_cfg_0002_037522062165#175", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the wood to the right'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003690/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.038027483304481226, + -0.9992766936707408 + ], + [ + 0.9999999989999999, + 0.0 + ], + [ + -0.993774090277806, + -0.11141390170225147 + ], + [ + 0.07517477367408598, + 0.9971703733079167 + ] + ] + }, + { + "task_id": "0003697", + "id": "RH20T_cfg5_task_0015_user_0007_scene_0006_cfg_0005_104122063678#243", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumsticks from the drum'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003697/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7071067809365474, + 0.7071067809365474 + ], + [ + 0.6862720882540572, + 0.7273449119114093 + ], + [ + 0.6923684227130542, + -0.7215441547333313 + ], + [ + -0.7256468152569573, + -0.6880673655300296 + ] + ] + }, + { + "task_id": "0003714", + "id": "RH20T_cfg4_task_0050_user_0014_scene_0010_cfg_0004_104122062823#120", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the plate on the rack', and now you are performing subtask 'pick up the plate from the table'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003714/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9972670850255263, + 0.07388072228050944 + ], + [ + 0.09415027500084898, + -0.9955579971640349 + ], + [ + -0.9999894512601558, + -0.004593187173690832 + ], + [ + 0.041630544710448227, + 0.9991330730507575 + ] + ] + }, + { + "task_id": "0003744", + "id": "RH20T_cfg4_task_0014_user_0010_scene_0002_cfg_0004_104122062823#71", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'the cube on the scale is picked up and placed aside', and now you are performing subtask 'pick up the cube on the scale'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003744/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.28123795718969374, + -0.9596380627276974 + ], + [ + 0.919145029957713, + 0.3939192985533056 + ], + [ + -0.8795826769886455, + -0.47574606077348464 + ], + [ + -0.2916705264207647, + 0.9565188466608664 + ] + ] + }, + { + "task_id": "0003754", + "id": "RH20T_cfg6_task_0060_user_0014_scene_0006_cfg_0006_104122064161#188", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn the knob to decrease the volume of the speaker', and now you are performing subtask 'twist the volume knob counterclockwise to decrease the volume'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003754/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.31622776591683793, + -0.9486832977505137 + ], + [ + -0.9176528822749324, + -0.3973829232019276 + ], + [ + -0.34538621303140365, + 0.938460635214832 + ], + [ + 0.9070924384965742, + 0.42093147663525826 + ] + ] + }, + { + "task_id": "0003777", + "id": "RH20T_cfg3_task_0092_user_0010_scene_0002_cfg_0003_104122062823#125", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'turn the hands of a clock clockwise'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003777/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9714719106571699, + 0.23715464744362041 + ], + [ + 0.24341530897473876, + -0.9699221553076992 + ], + [ + -0.2747211278596422, + 0.9615239475087477 + ], + [ + -0.94420694515905, + -0.32935276636672545 + ] + ] + }, + { + "task_id": "0003789", + "id": "RH20T_cfg4_task_0016_user_0016_scene_0005_cfg_0004_104122062823#119", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the pool cue from the pool table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003789/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.11333219757344937, + -0.9935571513472049 + ], + [ + -0.9954162146979604, + 0.0956376469617699 + ], + [ + -0.14995123671844462, + 0.9886933936294957 + ], + [ + 0.9999999989999999, + 0.0 + ] + ] + }, + { + "task_id": "0003810", + "id": "RH20T_cfg3_task_0006_user_0016_scene_0003_cfg_0003_036422060909#137", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'use the gripper to push the small block from left to right', and now you are performing subtask 'pick up the small square from the fabric'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003810/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.5823249809209761, + 0.8129560975817728 + ], + [ + 0.7533929446164387, + -0.657570582524927 + ], + [ + -0.44975582429410577, + -0.8931515540564935 + ], + [ + -0.8320502942224591, + 0.554700196148306 + ] + ] + }, + { + "task_id": "0003829", + "id": "RH20T_cfg2_task_0128_user_0007_scene_0003_cfg_0002_105422061350#117", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the USB drive to the port', and now you are performing subtask 'pick up the USB drive from the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003829/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.7071067806865474, + -0.7071067806865474 + ], + [ + -0.6471843261313022, + 0.7623335542988858 + ], + [ + 0.7953660371435266, + 0.606129414365119 + ], + [ + 0.7832591950789844, + -0.6216952897716224 + ] + ] + }, + { + "task_id": "0003832", + "id": "RH20T_cfg7_task_0044_user_0020_scene_0001_cfg_0007_104122064161#99", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up the package on the table'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003832/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9728095747078349, + -0.23160641475736682 + ], + [ + -0.2324624534960279, + -0.972605371008513 + ], + [ + -0.9088864812250718, + 0.4170435999344758 + ], + [ + 0.31622776596683794, + 0.9486832979005138 + ] + ] + }, + { + "task_id": "0003834", + "id": "RH20T_cfg4_task_0071_user_0007_scene_0010_cfg_0004_104122062823#111", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'slide the sliding window to the closed position'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003834/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8544863663406496, + 0.519473820069841 + ], + [ + 0.4046951146330205, + -0.9144516740605632 + ], + [ + -0.9338553920168071, + -0.3576508168607133 + ], + [ + -0.4472135954499579, + 0.8944271908999158 + ] + ] + }, + { + "task_id": "0003838", + "id": "RH20T_cfg4_task_0047_user_0014_scene_0012_cfg_0004_104122062823#187", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'pick up the cup from the cup rack'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003838/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.807996020398448, + 0.5891879420187339 + ], + [ + 0.45125731269771274, + -0.8923938803784116 + ], + [ + -0.7449058322820166, + -0.6671696193864317 + ], + [ + -0.554700196071383, + 0.8320502941070744 + ] + ] + }, + { + "task_id": "0003843", + "id": "RH20T_cfg6_task_0073_user_0020_scene_0003_cfg_0006_104122064161#199", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pull the drawer to the open position'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003843/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8443844513611599, + -0.5357377140910587 + ], + [ + -0.44506302694069383, + -0.8954992473756677 + ], + [ + -0.9268574471667728, + 0.37541346889994903 + ], + [ + 0.4472135952999579, + 0.8944271905999158 + ] + ] + }, + { + "task_id": "0003845", + "id": "RH20T_cfg4_task_0096_user_0015_scene_0003_cfg_0004_104122062823#144", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle outward'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003845/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.09697130812005787, + -0.9952871773520872 + ], + [ + -0.9827289246469995, + 0.18505096774173366 + ], + [ + 0.24766119659786484, + 0.968846701857272 + ], + [ + 0.9922778765905907, + -0.12403473457382384 + ] + ] + }, + { + "task_id": "0003846", + "id": "RH20T_cfg4_task_0096_user_0015_scene_0003_cfg_0004_104122062823#326", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle outward'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003846/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.9999999998571428, + 0.0 + ], + [ + 0.11628749194779854, + 0.9932155955362817 + ], + [ + 0.9999520199409783, + -0.009795806039191711 + ], + [ + -0.11721039334065865, + -0.9931071058515936 + ] + ] + }, + { + "task_id": "0003849", + "id": "RH20T_cfg4_task_0217_user_0010_scene_0003_cfg_0004_104122062823#96", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket', and now you are performing subtask 'pick up the bulb holder from the green fabric'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003849/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9720406860426849, + 0.23481248833413162 + ], + [ + 0.30515709934752144, + -0.9523020238967294 + ], + [ + -0.982618855335979, + -0.18563454726480796 + ], + [ + -0.2747211278596422, + 0.9615239475087477 + ] + ] + }, + { + "task_id": "0003851", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0006_cfg_0004_104122062823#114", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pull the drawer handle to open the drawer'. Several arrows with different colors are around the gripper; some are horizontal, others vertical. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "A" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003851/image.jpg" + ], + "gt": "A", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.8741572760366321, + 0.48564293113146223 + ], + [ + 0.5443090903345958, + 0.8388847442760685 + ], + [ + 0.7964838286056624, + -0.6046598306235217 + ], + [ + -0.5605771799189235, + -0.8281021829183564 + ] + ] + }, + { + "task_id": "0003852", + "id": "RH20T_cfg4_task_0096_user_0014_scene_0006_cfg_0004_104122062823#217", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask 'pick up the object from the drawer'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003852/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9672087152132799, + -0.2539828758311799 + ], + [ + -0.17790059748828727, + -0.9840484629393567 + ], + [ + -0.9949317800055965, + 0.10055224082483342 + ], + [ + 0.1961161350997225, + 0.9805806754986125 + ] + ] + }, + { + "task_id": "0003922", + "id": "RH20T_cfg7_task_0015_user_0020_scene_0007_cfg_0007_104122064161#195", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick from the cube on the table'. There are some different color arrows around gripper on the image, which color most likely represents the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003922/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9939152150915186, + -0.11014783343116862 + ], + [ + 0.07623276467412392, + -0.9970900488873308 + ], + [ + -0.9923517305249628, + -0.12344246807363995 + ], + [ + 0.0, + 0.9999999989999999 + ] + ] + }, + { + "task_id": "0003944", + "id": "RH20T_cfg4_task_0073_user_0015_scene_0007_cfg_0004_104122062823#118", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pick up the button next to the surface'. On the image, different arrows surround the gripper-some near its jaws, others by the target part. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003944/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9999590152422366, + -0.00905360899179383 + ], + [ + 0.06719954417432708, + -0.9977395558274528 + ], + [ + -0.09950371901109793, + 0.9950371901109792 + ], + [ + -0.9986013092356192, + -0.05287178068598911 + ] + ] + }, + { + "task_id": "0003949", + "id": "RH20T_cfg5_task_0075_user_0007_scene_0004_cfg_0005_104122063678#262", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'finish setting up the starting position of the chessboard that is almost arranged', and now you are performing subtask 'pick up the black chess piece on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003949/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9997878006103613, + 0.020599848317312975 + ], + [ + 0.0, + 0.9999999995 + ], + [ + 0.1035838574033947, + -0.9946207239372369 + ], + [ + -0.9952846433987047, + 0.09699731240974291 + ] + ] + }, + { + "task_id": "0003962", + "id": "RH20T_cfg4_task_0009_user_0010_scene_0006_cfg_0004_104122062823#119", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take out a Hanoi block and throw it aside', and now you are performing subtask 'pick up the Hanoi block from the surface of the wooden table'. On the image, various arrows surround the gripper-some point toward the box, others away. Which color most likely shows the gripper's actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003962/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.08248275262397774, + 0.9965924922050997 + ], + [ + -0.9999999989999999, + 0.0 + ], + [ + 0.9880924349953305, + -0.15386143085581444 + ], + [ + 0.1558938855187023, + -0.9877738083477825 + ] + ] + }, + { + "task_id": "0003970", + "id": "RH20T_cfg5_task_0002_user_0010_scene_0001_cfg_0005_104122063678#58", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up a napkin from the tissue box'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003970/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.992724422195209, + -0.12040856106269457 + ], + [ + 0.0, + 0.9999999996666666 + ], + [ + -0.0030474779699230905, + -0.99999535642823 + ], + [ + -0.9907384171830982, + -0.13578434636411266 + ] + ] + }, + { + "task_id": "0003977", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0003_cfg_0005_104122063678#221", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'pick up the small cube inside the gift box'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003977/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.8950924222405853, + 0.4458806517976327 + ], + [ + -0.4472135952999579, + 0.8944271905999158 + ], + [ + 0.4508045185990122, + -0.892622700815251 + ], + [ + -0.9400512976093192, + -0.3410330744415198 + ] + ] + }, + { + "task_id": "0003978", + "id": "RH20T_cfg5_task_0061_user_0007_scene_0003_cfg_0005_104122063678#384", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'place the small cube on the desktop'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003978/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9978328327222221, + 0.06579998435824964 + ], + [ + -0.12200947320795062, + -0.9925289358237968 + ], + [ + -0.9901812177977014, + 0.1397896846003343 + ], + [ + 0.0, + 0.9999999995 + ] + ] + }, + { + "task_id": "0003980", + "id": "RH20T_cfg5_task_0010_user_0010_scene_0007_cfg_0005_104122063678#303", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'place the handset of the telephone on the corresponding phone cradle', and now you are performing subtask 'pick up the telephone handset from the desktop'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003980/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.10147636182038274, + -0.9948379506189431 + ], + [ + -0.9882982179499012, + 0.15253403684768074 + ], + [ + 0.07099912675694842, + 0.9974763776650306 + ], + [ + 0.9999999989999999, + 0.0 + ] + ] + }, + { + "task_id": "0003991", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0006_cfg_0004_104122062823#111", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'pick up the lamp holder on the table'. Several colored arrows are around the robot gripper in the image; some point toward the box, others away. Which color describes the gripper's real move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "B" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003991/image.jpg" + ], + "gt": "B", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9397834363736377, + 0.34177052640296085 + ], + [ + -0.4472135953999579, + 0.8944271907999158 + ], + [ + 0.3177904486537232, + -0.9481609730127397 + ], + [ + -0.8494101012266246, + -0.5277333416927297 + ] + ] + }, + { + "task_id": "0003992", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0006_cfg_0004_104122062823#310", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'insert the lamp holder into the socket'. Different arrows are around the gripper in the image-upward and downward ones. Which color most likely represents its actual movement direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003992/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + -0.5272797777384214, + -0.8496917299751252 + ], + [ + -0.8336351302293172, + 0.552315552603355 + ], + [ + 0.79999999984, + -0.59999999988 + ], + [ + 0.6499117027540042, + 0.760009722716355 + ] + ] + }, + { + "task_id": "0003993", + "id": "RH20T_cfg4_task_0218_user_0010_scene_0006_cfg_0004_104122062823#3568", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb', and now you are performing subtask 'press the switch on the socket to turn on the light'. There are several arrows with different colors around the robot gripper on the image, which color describes the actual move direction of the robot gripper? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "C" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003993/image.jpg" + ], + "gt": "C", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.9170766937107927, + -0.3987108449145583 + ], + [ + -0.2908962777669976, + -0.9567545952757718 + ], + [ + 0.31622776591683793, + 0.9486832977505137 + ], + [ + -0.962242092319918, + 0.27219506933040954 + ] + ] + }, + { + "task_id": "0003994", + "id": "RH20T_cfg5_task_0225_user_0010_scene_0010_cfg_0005_104122063678#1467", + "task": "TrajDirectionChoice", + "conversations": [ + { + "from": "human", + "value": "\nThe robot task is 'open the microwave and put the bowl into the microwave, then close the microwave', and now you are performing subtask 'pull the microwave door to open it'. Several colored arrows are around the robot gripper in the image; some point up, others down. Which color describes its actual move direction? Please choose only one option from [A. Red, B. Green, C. Blue, D. Yellow]." + }, + { + "from": "gpt", + "value": "D" + } + ], + "images": [ + "Understanding/image/val/traj_direction_choice/rh20t_0003994/image.jpg" + ], + "gt": "D", + "source": "rh20t", + "origin_shape:": [ + 360, + 640 + ], + "smart_resize_shape": [ + 364, + 644 + ], + "dir_list": [ + [ + 0.020145337699103316, + -0.9997970620925974 + ], + [ + -0.9895871375509335, + 0.14393504505070961 + ], + [ + -0.11381044658141393, + 0.9935024822560532 + ], + [ + 0.9999999989999999, + 0.0 + ] + ] + } +] \ No newline at end of file