[ { "task_id": "0000000", "id": "RH20T_cfg4_task_0005_user_0010_scene_0009_cfg_0004_104422070011#75", "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 'strike 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000000/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9945054528693513, 0.1046847845125633 ], [ 0.21414493566054607, 0.97680189728058 ], [ 0.9993912644856213, -0.03488696704832685 ], [ -0.0634305504024914, -0.9979862550534637 ] ] }, { "task_id": "0000001", "id": "RH20T_cfg4_task_0067_user_0015_scene_0009_cfg_0004_038522062288#86", "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 red button in the top left corner from top to bottom, bypass the obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000001/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8616503604439024, 0.5075023707795789 ], [ 0.4751667083370896, 0.8798957888796236 ], [ 0.930465841324001, -0.3663786540305248 ], [ -0.4961389382952954, -0.8682431420167669 ] ] }, { "task_id": "0000002", "id": "RH20T_cfg6_task_0038_user_0014_scene_0001_cfg_0006_104122064161#86", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000002/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902622458512703, -0.13921452669027878 ], [ 0.2248595066819045, 0.9743911956215862 ], [ -0.2359014933920299, -0.9717769730835415 ], [ -0.9595191247818992, 0.28164347884830976 ] ] }, { "task_id": "0000003", "id": "RH20T_cfg7_task_0005_user_0020_scene_0003_cfg_0007_104122064161#113", "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 block from the left to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000003/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998349838840244, -0.01816603978947967 ], [ -0.11534779442535874, -0.993325166459204 ], [ 0.0, 0.9999999998 ], [ -0.9999925512945976, -0.003859709227601912 ] ] }, { "task_id": "0000004", "id": "RH20T_cfg2_task_0068_user_0014_scene_0003_cfg_0002_037522062165#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'push the obstacle block on the right to clear the path'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000004/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.730948499332282, -0.6824326276812129 ], [ -0.6864397264241288, -0.727186703664724 ], [ 0.6507913733853803, 0.7592566022829437 ], [ -0.7738512062631657, 0.6333674372471665 ] ] }, { "task_id": "0000005", "id": "RH20T_cfg4_task_0105_user_0015_scene_0008_cfg_0004_038522062288#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the circular object on the shelf', and now you are performing subtask 'pick up the round object 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000005/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999717423806672, -0.007517608673806612 ], [ 0.0, 0.9999999989999999 ], [ -0.13403327855009328, -0.9909768313341706 ], [ -0.9903003948748613, -0.1389428944231901 ] ] }, { "task_id": "0000006", "id": "RH20T_cfg5_task_0090_user_0007_scene_0003_cfg_0005_037522062165#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the small square to the bottom of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000006/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9888145265103725, -0.14915036762297254 ], [ 0.09671138061013336, 0.9953124679518899 ], [ 0.0, -0.9999999989999999 ], [ 0.9894879280533935, 0.14461549099803428 ] ] }, { "task_id": "0000007", "id": "RH20T_cfg6_task_0044_user_0020_scene_0002_cfg_0006_104122064161#110", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000007/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.995695608262275, 0.09268363225089049 ], [ -0.1414213562173095, 0.9899494935211665 ], [ 0.09132460581818885, -0.995821176904846 ], [ -0.9753610111371768, -0.22061481807318453 ] ] }, { "task_id": "0000008", "id": "RH20T_cfg4_task_0010_user_0010_scene_0007_cfg_0004_038522062288#121", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000008/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502941070744, 0.554700196071383 ], [ 0.5529255709537287, 0.8332306481314121 ], [ 0.7858298912783502, -0.618442707106694 ], [ -0.5137227475312642, -0.8579562568505046 ] ] }, { "task_id": "0000009", "id": "RH20T_cfg7_task_0050_user_0014_scene_0002_cfg_0007_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate on the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000009/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9737748583660532, -0.22751379126148197 ], [ -0.3703252952531607, -0.9289021346168064 ], [ 0.25766265054373483, 0.9662349395390056 ], [ -0.943119090097915, 0.33245508251924927 ] ] }, { "task_id": "0000010", "id": "RH20T_cfg4_task_0006_user_0010_scene_0007_cfg_0004_038522062288#77", "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 'push the small piece from left to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000010/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9465353982061407, 0.3225999689131146 ], [ -0.28734788555258395, -0.9578262851752798 ], [ 0.30477788400406636, 0.9524234569885414 ], [ 0.9594736490070551, -0.281798362062462 ] ] }, { "task_id": "0000012", "id": "RH20T_cfg4_task_0065_user_0010_scene_0001_cfg_0004_038522062288#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'building with small Lego blocks', and now you are performing subtask 'pick up the small Lego 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000012/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1742105711868883, -0.9847084222686115 ], [ 0.9701424999100378, -0.24253562497750944 ], [ -0.9669961428020238, 0.2547910120196708 ], [ 0.2341845322506739, 0.9721921645716618 ] ] }, { "task_id": "0000013", "id": "RH20T_cfg2_task_0051_user_0016_scene_0007_cfg_0002_037522062165#73", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000013/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5144957553392911, -0.8574929255654853 ], [ -0.7741239828077817, 0.6330340111256403 ], [ 0.6162345246026479, 0.7875627027022982 ], [ 0.8457621793527573, -0.533560058453099 ] ] }, { "task_id": "0000014", "id": "RH20T_cfg1_task_0085_user_0001_scene_0010_cfg_0001_750612070853#173", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000014/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9977609946914026, 0.06688047153260084 ], [ 0.13063110968965339, -0.9914310430792703 ], [ -0.9898197884298564, 0.1423263378039158 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000015", "id": "RH20T_cfg1_task_0041_user_0001_scene_0010_cfg_0001_750612070853#110", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000015/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9987073012842128, 0.05083036849762826 ], [ -0.10348683330385858, -0.9946308236389718 ], [ -0.9925168959269008, 0.12210737610656237 ] ] }, { "task_id": "0000016", "id": "RH20T_cfg6_task_0060_user_0014_scene_0009_cfg_0006_104122064161#158", "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 'turn the knob counterclockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000016/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.0675988239212878, -0.997712583364798 ], [ -0.9908421360873929, -0.13502541003001056 ], [ -0.1374807091051664, 0.9905044445250818 ] ] }, { "task_id": "0000017", "id": "RH20T_cfg2_task_0005_user_0013_scene_0001_cfg_0002_037522062165#184", "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 small square's side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000017/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9509923845046655, -0.30921430208535094 ], [ -0.348042748328107, -0.9374786639365282 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.9765765349759239, 0.21517033098087268 ] ] }, { "task_id": "0000018", "id": "RH20T_cfg1_task_0007_user_0004_scene_0007_cfg_0001_039422060546#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sweeping a small block from left to right on the table with a gripper', and now you are performing subtask 'pick up the wooden 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000018/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9591819506504001, -0.2827896489380285 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.331503508128494, -0.9434539862115701 ], [ -0.976670237194081, 0.21474461059420694 ] ] }, { "task_id": "0000020", "id": "RH20T_cfg4_task_0126_user_0014_scene_0009_cfg_0004_104122062823#79", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000020/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4676916881548707, -0.8838916703028982 ], [ -0.9129481046333014, -0.40807567710715437 ], [ 0.8944271908999158, 0.4472135954499579 ], [ -0.4395353366876452, 0.8982252990218424 ] ] }, { "task_id": "0000021", "id": "RH20T_cfg1_task_0010_user_0014_scene_0008_cfg_0001_039422060546#89", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000021/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9727674078582464, -0.2317834554249893 ], [ -0.17226741088247058, -0.9850502216373793 ], [ -0.9863347888250066, 0.16475340467962918 ], [ 0.31622776596683794, 0.9486832979005138 ] ] }, { "task_id": "0000022", "id": "RH20T_cfg1_task_0012_user_0008_scene_0001_cfg_0001_750612070853#115", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000022/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9903291912598039, -0.1387374965130288 ], [ -0.3553847902725661, 0.9347200922430865 ], [ 0.9839518974245923, 0.1784339192937949 ], [ 0.2558925603090069, -0.9667052278340261 ] ] }, { "task_id": "0000023", "id": "RH20T_cfg5_task_0104_user_0007_scene_0009_cfg_0005_037522062165#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'slide the plate to the back of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000023/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995231570721496, 0.030878122943648393 ], [ -0.00945674085019011, -0.9999552840264871 ], [ -0.9896216482574103, 0.14369757583302012 ], [ 0.0, 0.999999999875 ] ] }, { "task_id": "0000024", "id": "RH20T_cfg7_task_0062_user_0014_scene_0003_cfg_0007_104122064161#71", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000024/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7394332581839722, -0.6732298691319594 ], [ -0.6755723863089518, -0.7372936666327933 ], [ -0.7837502116189594, 0.6210761674603495 ], [ 0.6804510993316614, 0.732793491587943 ] ] }, { "task_id": "0000025", "id": "RH20T_cfg4_task_0001_user_0010_scene_0008_cfg_0004_038522062288#87", "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 red button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000025/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7241321974683109, 0.6896611926081642 ], [ 0.6700855959675144, -0.7422838365994918 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.7337449697203824, -0.6794249917467234 ] ] }, { "task_id": "0000026", "id": "RH20T_cfg5_task_0018_user_0010_scene_0005_cfg_0005_037522062165#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the Jenga block from the Jenga tower'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000026/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9935324979424752, 0.1135481198971848 ], [ 0.0997671778761224, -0.9950108090963807 ], [ 0.0, 0.9999999995 ], [ -0.9921003480110064, -0.12544679938699083 ] ] }, { "task_id": "0000027", "id": "RH20T_cfg1_task_0044_user_0001_scene_0005_cfg_0001_750612070853#64", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000027/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9589089403425518, 0.283714018213983 ], [ 0.33116044827655056, -0.9435744578448878 ], [ -0.976911220659098, -0.21364565745727507 ], [ -0.35112344154729586, 0.9363291774594555 ] ] }, { "task_id": "0000028", "id": "RH20T_cfg2_task_0050_user_0007_scene_0001_cfg_0002_037522062165#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate on the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000028/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9739573966220961, -0.22673109527612031 ], [ -0.16989520607126443, -0.9854621347134566 ], [ -0.988395328117591, 0.15190350672489367 ], [ 0.1414213562173095, 0.9899494935211665 ] ] }, { "task_id": "0000029", "id": "RH20T_cfg4_task_0062_user_0015_scene_0010_cfg_0004_038522062288#125", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000029/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.8965160168419076, -0.44301132214190697 ], [ -0.6671077186124134, -0.7449612686359884 ], [ -0.8879386506994501, 0.45996190341596777 ] ] }, { "task_id": "0000031", "id": "RH20T_cfg7_task_0062_user_0020_scene_0009_cfg_0007_104122064161#101", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000031/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9513976891482493, -0.3079649932758124 ], [ 0.44721359543329126, 0.8944271908665825 ], [ -0.4451257609227324, -0.8954680658532489 ], [ -0.8730161688668944, 0.48769126391290846 ] ] }, { "task_id": "0000032", "id": "RH20T_cfg1_task_0008_user_0001_scene_0005_cfg_0001_819112071037#305", "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 surface of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000032/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997047392176034, 0.02429885564926009 ], [ -0.07255333898165284, -0.9973645336598917 ], [ 0.0, 0.99999999975 ], [ -0.9879787548438895, 0.15458971497844767 ] ] }, { "task_id": "0000033", "id": "RH20T_cfg1_task_0038_user_0001_scene_0006_cfg_0001_750612070853#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000033/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999964431273651, -0.002667158154005395 ], [ 0.0, 0.9999999995 ], [ -0.013251301057257789, -0.9999121976555192 ], [ -0.9964951190337591, 0.08365092792010326 ] ] }, { "task_id": "0000034", "id": "RH20T_cfg2_task_0077_user_0007_scene_0009_cfg_0002_037522062165#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the small Lego 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000034/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9964981457492994, -0.08361486421808055 ], [ 0.0, 0.9999999989999999 ], [ 0.02020037440108062, -0.9997959516191572 ], [ -0.9949391851031769, 0.10047894280010257 ] ] }, { "task_id": "0000035", "id": "RH20T_cfg6_task_0089_user_0020_scene_0001_cfg_0006_104122064161#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the left side of the piggy bank', and now you are performing subtask 'push the block to the left side of the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000035/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0607166955264116, -0.9981550395025579 ], [ -0.993503087789096, -0.11380516048726347 ], [ 0.9999999998, 0.0 ], [ 0.07461339102950804, 0.9972125359616564 ] ] }, { "task_id": "0000036", "id": "RH20T_cfg1_task_0020_user_0014_scene_0002_cfg_0001_750612070853#209", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000036/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7350526635556293, 0.6780100160025476 ], [ 0.6489755731370335, -0.7608092438130987 ], [ -0.7453571065489997, -0.6666654211198473 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0000037", "id": "RH20T_cfg4_task_0091_user_0014_scene_0001_cfg_0004_038522062288#124", "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 cube in the pink 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000037/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502941070744, 0.554700196071383 ], [ 0.6215971433248619, -0.7833370867068475 ], [ -0.8799176119927261, -0.47512629489959657 ], [ -0.6598251877593446, 0.751419138429642 ] ] }, { "task_id": "0000038", "id": "RH20T_cfg7_task_0014_user_0014_scene_0006_cfg_0007_104122064161#77", "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 block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000038/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.974827980478427, -0.22295831107261216 ], [ -0.48992490109580095, -0.8717646421404517 ], [ -0.8791083458195195, 0.47662198471164585 ], [ 0.35897907928309586, 0.9333456061360492 ] ] }, { "task_id": "0000039", "id": "RH20T_cfg4_task_0121_user_0007_scene_0003_cfg_0004_038522062288#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'taking out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise to loosen 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000039/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9766032891530783, 0.21504886797048955 ], [ -0.1414213562273095, 0.9899494935911665 ], [ 0.26026694341578643, -0.9655366995433181 ], [ -0.9727651701264862, -0.23179284671617562 ] ] }, { "task_id": "0000040", "id": "RH20T_cfg1_task_0001_user_0005_scene_0009_cfg_0001_750612070853#68", "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 red button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000040/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5943910610630234, -0.8041761414382081 ], [ -0.8653366649653501, -0.5011910376958526 ], [ -0.6621050055970474, 0.7494110764882874 ], [ 0.7470863812926715, 0.6647269656686279 ] ] }, { "task_id": "0000041", "id": "RH20T_cfg1_task_0092_user_0015_scene_0008_cfg_0001_750612070853#87", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000041/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9881792160688547, -0.15330308845402882 ], [ 0.14739255245862093, -0.9890780735006376 ], [ -0.9933011302181172, 0.1155545962193248 ] ] }, { "task_id": "0000042", "id": "RH20T_cfg4_task_0125_user_0007_scene_0003_cfg_0004_038522062288#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the rod on the machine up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000042/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.949514356910461, -0.31372358218806834 ], [ 0.3162277659835046, 0.9486832979505138 ], [ -0.4341153970750441, -0.9008572706163707 ], [ -0.9131762644407219, 0.4075648538111314 ] ] }, { "task_id": "0000043", "id": "RH20T_cfg7_task_0062_user_0014_scene_0005_cfg_0007_104122064161#69", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000043/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810865475, 0.7071067810865475 ], [ 0.6785611815767222, -0.7345438876317757 ], [ -0.7178394573865978, -0.6962086708874824 ], [ -0.7370437382572014, 0.6758450472525859 ] ] }, { "task_id": "0000044", "id": "RH20T_cfg3_task_0028_user_0010_scene_0002_cfg_0003_038522062288#388", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000044/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9945008113322811, -0.10472887022896225 ], [ -0.3434686107671113, -0.9391641567999232 ], [ -0.9982835062785878, 0.05856655267410645 ] ] }, { "task_id": "0000045", "id": "RH20T_cfg6_task_0015_user_0014_scene_0003_cfg_0006_104122064161#63", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000045/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9911736024562504, -0.13257032018479475 ], [ -0.15677501000611493, -0.9876343433870567 ], [ 0.25335939183184775, 0.9673722233579641 ], [ -0.9316958275751763, 0.3632394318889503 ] ] }, { "task_id": "0000046", "id": "RH20T_cfg1_task_0086_user_0014_scene_0006_cfg_0001_039422060546#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the stick 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000046/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832977505137, 0.31622776591683793 ], [ 0.20708851452316568, 0.978322210293004 ], [ 0.9388909767093991, -0.34421466246177046 ], [ -0.25946308244263566, -0.9657530268393498 ] ] }, { "task_id": "0000047", "id": "RH20T_cfg1_task_0086_user_0014_scene_0006_cfg_0001_039422060546#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'transfer the stick from the table to above the old rotary phone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000047/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5491532113107306, 0.8357216944097552 ], [ 0.8617380355465359, 0.5073534843601623 ], [ 0.39233704273713244, -0.9198215288284362 ], [ -0.8479983039152004, -0.5299989399470002 ] ] }, { "task_id": "0000048", "id": "RH20T_cfg1_task_0072_user_0010_scene_0003_cfg_0001_819112071037#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the metal ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000048/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9302102794163315, -0.36702702362113687 ], [ -0.2688649541596065, -0.963177884102803 ], [ 0.28734788555258395, 0.9578262851752798 ], [ -0.9799242236883244, 0.19937029826138777 ] ] }, { "task_id": "0000049", "id": "RH20T_cfg4_task_0001_user_0010_scene_0002_cfg_0004_038522062288#76", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000049/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.03295694297714087, 0.9994567724066916 ], [ 0.9601282825596988, -0.2795597986638335 ], [ -0.13525209377763522, -0.9908112187136184 ], [ -0.9828721868739445, 0.1842885350388646 ] ] }, { "task_id": "0000050", "id": "RH20T_cfg2_task_0082_user_0007_scene_0001_cfg_0002_105422061350#408", "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 pot'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000050/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, -0.7071067809365474 ], [ -0.7198718871662574, -0.6941069557839707 ], [ -0.7445936974387788, 0.6675179591100515 ], [ 0.6188352948418129, 0.7855207685720643 ] ] }, { "task_id": "0000051", "id": "RH20T_cfg6_task_0126_user_0014_scene_0009_cfg_0006_104122064161#91", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000051/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9987409616791743, -0.05016464356654338 ], [ -0.010945837872560205, -0.9999400925221809 ], [ -0.9877727519838397, -0.15590057869768073 ] ] }, { "task_id": "0000052", "id": "RH20T_cfg4_task_0016_user_0016_scene_0010_cfg_0004_038522062288#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000052/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6619929365238201, -0.7495100746438099 ], [ 0.707106781130992, 0.707106781130992 ], [ -0.6250256392172026, -0.7806042213062439 ], [ -0.6302033705424221, 0.7764301074513859 ] ] }, { "task_id": "0000053", "id": "RH20T_cfg6_task_0035_user_0014_scene_0004_cfg_0006_104122064161#92", "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 from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000053/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9666462114724816, 0.2561154072794108 ], [ 0.11268487093979261, -0.9936307764261745 ], [ -0.19611613511895326, 0.9805806755947664 ], [ -0.9722174700345453, -0.2340794543731427 ] ] }, { "task_id": "0000054", "id": "RH20T_cfg4_task_0089_user_0007_scene_0008_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the object to the right side of the blue table, avoid the obstacles in the area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000054/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9349847422132262, -0.35468793583721864 ], [ -0.23819679113253903, -0.9712169112480289 ], [ -0.9372828171396275, 0.34856982183603286 ], [ 0.36244626113618167, 0.9320046714930386 ] ] }, { "task_id": "0000055", "id": "RH20T_cfg2_task_0001_user_0013_scene_0007_cfg_0002_037522062165#347", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000055/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3993969202226852, 0.9167781084409871 ], [ 0.9544692301089022, 0.2983093843232552 ], [ -0.9486832977505137, -0.31622776591683793 ], [ 0.2683120899163666, -0.963332041616343 ] ] }, { "task_id": "0000056", "id": "RH20T_cfg1_task_0020_user_0004_scene_0003_cfg_0001_039422060546#536", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000056/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5948186835770755, -0.8038598967902524 ], [ -0.8058920864447822, -0.5920624502581427 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.5903800988961869, 0.8071253550888664 ] ] }, { "task_id": "0000057", "id": "RH20T_cfg2_task_0054_user_0007_scene_0001_cfg_0002_037522062165#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the toy 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000057/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7264883905931057, 0.6871787382722485 ], [ -0.6246950474568633, 0.7808688093210792 ], [ 0.5754595323967713, -0.8178302553547953 ], [ -0.77836322441637, -0.6278142168477485 ] ] }, { "task_id": "0000058", "id": "RH20T_cfg3_task_0010_user_0010_scene_0002_cfg_0003_104422070011#134", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000058/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2635940907502413, 0.9646336897089763 ], [ 0.9809190242174963, 0.194416737777885 ], [ -0.9535826650862826, -0.301131367921984 ], [ 0.38417560386757316, -0.9232600421295105 ] ] }, { "task_id": "0000059", "id": "RH20T_cfg7_task_0001_user_0020_scene_0009_cfg_0007_104122064161#86", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000059/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7225486977904932, -0.6913200267034527 ], [ -0.7367274915980658, -0.6761897685736024 ], [ -0.7508266665010559, 0.6604992936187837 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000060", "id": "RH20T_cfg3_task_0021_user_0011_scene_0008_cfg_0003_038522062288#209", "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 on the desk to turn it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000060/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7519811619764705, -0.6591845963252762 ], [ 0.7071067809365474, -0.7071067809365474 ], [ -0.8001927403426082, 0.5997429268469844 ], [ 0.7424168509269354, 0.6699382206291358 ] ] }, { "task_id": "0000063", "id": "RH20T_cfg4_task_0119_user_0007_scene_0004_cfg_0004_104122062823#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the handle of the faucet clockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000063/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8204215750248673, -0.571759074465562 ], [ -0.7030636554797415, -0.7111269199963276 ], [ -0.8619554400512409, 0.5069840425162035 ], [ 0.624695047530034, 0.7808688094125426 ] ] }, { "task_id": "0000064", "id": "RH20T_cfg5_task_0032_user_0010_scene_0004_cfg_0005_104122063678#185", "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 packaging onto the gift 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000064/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9922778361341645, 0.12403505922480199 ], [ 0.2577440639519612, -0.9662132256896132 ], [ -0.9955356026845648, -0.09438677760936895 ], [ -0.11043152606265141, 0.9938837345638627 ] ] }, { "task_id": "0000065", "id": "RH20T_cfg6_task_0009_user_0014_scene_0003_cfg_0006_104122064161#54", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the orange Hanoi block and throw it onto the side table', and now you are performing subtask 'pick up the orange Hanoi block from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000065/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5144957553392911, 0.8574929255654853 ], [ 0.8547337760779927, 0.5190666354442905 ], [ 0.5578356115459233, -0.8299514627321201 ], [ -0.912919096583053, -0.4081405678120986 ] ] }, { "task_id": "0000066", "id": "RH20T_cfg3_task_0085_user_0010_scene_0004_cfg_0003_104122062823#179", "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 foam ring around the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000066/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9991792543202435, 0.04050700848053601 ], [ 0.2766699629830604, -0.9609650001862461 ], [ -0.9729234512394658, -0.23112757954923252 ] ] }, { "task_id": "0000068", "id": "RH20T_cfg5_task_0090_user_0007_scene_0009_cfg_0005_104122063678#207", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block on the desk to the right', and now you are performing subtask 'push the square on the desktop 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000068/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.975279529825379, 0.22097474675534207 ], [ 0.20002483770800514, -0.9797908268094198 ], [ -0.9294991893323665, -0.36882415461907264 ], [ -0.3162277659835046, 0.9486832979505138 ] ] }, { "task_id": "0000069", "id": "RH20T_cfg7_task_0045_user_0014_scene_0007_cfg_0007_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000069/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3417430630575073, 0.939793423408145 ], [ 0.9256600131130898, 0.3783563665692366 ], [ 0.2515502606714201, -0.9678442366187551 ], [ -0.9652043062641499, -0.2614969352958868 ] ] }, { "task_id": "0000070", "id": "RH20T_cfg7_task_0008_user_0020_scene_0006_cfg_0007_104122064161#99", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000070/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999660105089878, 0.026070563701120444 ], [ 0.0, 0.99999999975 ], [ -0.08900079153755486, -0.996031555276081 ], [ -0.9991573871755123, -0.041042851419018506 ] ] }, { "task_id": "0000071", "id": "RH20T_cfg4_task_0101_user_0014_scene_0001_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the dirty spot 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000071/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3417430630575073, 0.939793423408145 ], [ 0.9585866161567785, -0.28480115752064117 ], [ -0.4071853375777577, -0.9133455539179504 ], [ -0.924582579240878, 0.38098169793874026 ] ] }, { "task_id": "0000072", "id": "RH20T_cfg2_task_0001_user_0003_scene_0001_cfg_0002_104122061850#156", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000072/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6619550748370039, -0.7495435136785166 ], [ -0.5957102919394617, -0.8031993825180652 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6189171104027521, 0.7854563071557243 ] ] }, { "task_id": "0000073", "id": "RH20T_cfg7_task_0001_user_0014_scene_0005_cfg_0007_104122064161#65", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the table', and now you are performing subtask 'press the red button 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000073/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9911947275834225, -0.1324122804381253 ], [ 0.0, -0.9999999989999999 ], [ 0.06695359271825475, 0.9977560906464656 ], [ 0.9949778577713269, 0.10009526734457208 ] ] }, { "task_id": "0000074", "id": "RH20T_cfg2_task_0074_user_0014_scene_0005_cfg_0002_037522062165#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000074/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6831977034237631, -0.7302334544763722 ], [ -0.7065594771421958, 0.7076536619424412 ], [ 0.7323235752648626, 0.6809568129560709 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0000075", "id": "RH20T_cfg5_task_0020_user_0010_scene_0008_cfg_0005_104122063678#284", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000075/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8358375554825289, 0.5489768490974737 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.4560319603288015, 0.8899633987747309 ], [ 0.9067327249760955, -0.42170578067821707 ] ] }, { "task_id": "0000076", "id": "RH20T_cfg3_task_0014_user_0011_scene_0006_cfg_0003_104122062823#171", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000076/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2982749931181532, 0.9544799779780903 ], [ 0.9595826240071655, -0.28142705574184396 ], [ -0.3074296306837074, -0.9515708182671847 ], [ -0.9333180128677023, 0.35905081375298875 ] ] }, { "task_id": "0000077", "id": "RH20T_cfg4_task_0013_user_0016_scene_0005_cfg_0004_104122062823#145", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000077/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.829303279443798, -0.5587987747872769 ], [ -0.6090700120395516, -0.7931164608266181 ], [ 0.59999999988, 0.79999999984 ], [ -0.7078763787838753, 0.7063363450650316 ] ] }, { "task_id": "0000078", "id": "RH20T_cfg7_task_0013_user_0020_scene_0005_cfg_0007_104122064161#120", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000078/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7827305174366077, -0.6223607772614052 ], [ -0.5451624609202171, -0.8383304188703955 ], [ -0.8039862946206202, 0.5946478269212839 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0000079", "id": "RH20T_cfg4_task_0067_user_0015_scene_0005_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base', and now you are performing subtask 'press the red button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000079/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7840037223553236, 0.620756122267833 ], [ 0.6228138992720909, -0.7823700191555745 ], [ -0.8748186751806435, -0.484450498560156 ], [ -0.59999999988, 0.79999999984 ] ] }, { "task_id": "0000080", "id": "RH20T_cfg5_task_0010_user_0007_scene_0001_cfg_0005_037522062165#215", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000080/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9993824186235842, 0.035139455688371915 ], [ 0.0, -0.9999999989999999 ], [ -0.04591468644892142, 0.9989453646562946 ], [ 0.9988249012019921, 0.0484645926304038 ] ] }, { "task_id": "0000081", "id": "RH20T_cfg2_task_0048_user_0007_scene_0001_cfg_0002_037522062165#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000081/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.557965713959557, -0.8298640021386648 ], [ 0.732793491587943, 0.6804510993316614 ], [ -0.8218156550606466, -0.5697534809873833 ], [ -0.5721701917356173, 0.8201349106636219 ] ] }, { "task_id": "0000082", "id": "RH20T_cfg5_task_0020_user_0010_scene_0002_cfg_0005_037522062165#212", "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 it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000082/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.7013384042204103, 0.7128284806077606 ], [ 0.6119648779793537, -0.7908849398741353 ], [ -0.7073030526339522, -0.7069104552449996 ] ] }, { "task_id": "0000083", "id": "RH20T_cfg2_task_0010_user_0007_scene_0009_cfg_0002_037522062165#134", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000083/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6898605286545776, -0.7239422981180385 ], [ -0.6785597263224378, -0.7345452319722854 ], [ 0.7071067811032142, 0.7071067811032142 ], [ -0.7252904145380881, 0.6884430365536196 ] ] }, { "task_id": "0000084", "id": "RH20T_cfg3_task_0084_user_0010_scene_0001_cfg_0003_104122062823#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000084/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8574929255654853, 0.5144957553392911 ], [ 0.5963877151546041, 0.8026965137663618 ], [ 0.9054443008435741, -0.42446509640945923 ], [ -0.4653455681817977, -0.8851290878586918 ] ] }, { "task_id": "0000085", "id": "RH20T_cfg2_task_0053_user_0007_scene_0008_cfg_0002_037522062165#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000085/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7761241191276973, -0.6305801707223722 ], [ -0.6342059587496073, 0.7731641493799952 ], [ 0.5144957553392911, -0.8574929255654853 ], [ 0.7854712388789137, 0.6188981603576023 ] ] }, { "task_id": "0000086", "id": "RH20T_cfg4_task_0218_user_0014_scene_0003_cfg_0004_104122062823#125", "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 bulb holder from the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000086/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.05055544487927351, 0.998721255903297 ], [ 0.9988087230783425, 0.04879687185272325 ], [ 0.1501858867111003, -0.9886577767017263 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0000087", "id": "RH20T_cfg4_task_0218_user_0014_scene_0003_cfg_0004_104122062823#268", "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 bulb 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000087/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7007255005677969, 0.7134309867492513 ], [ 0.7974683256124472, 0.6033608121554465 ], [ 0.5790747313462183, -0.8152744663708689 ], [ -0.79999999984, -0.59999999988 ] ] }, { "task_id": "0000088", "id": "RH20T_cfg4_task_0101_user_0014_scene_0007_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the table with a towel', and now you are performing subtask 'pull the towel to the dirty spot'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000088/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9116536468146821, -0.4109593997580428 ], [ -0.44226372870062197, -0.8968850507594731 ], [ -0.8485792728518013, 0.5290682542794534 ], [ 0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0000089", "id": "RH20T_cfg4_task_0105_user_0007_scene_0008_cfg_0004_104122062823#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000089/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.22428735638919348, -0.9745230534799816 ], [ -0.9584514627870703, -0.28525566336415686 ], [ -0.33837213549051454, 0.9410123792616062 ], [ 0.9761870600780704, 0.21693045779512676 ] ] }, { "task_id": "0000090", "id": "RH20T_cfg2_task_0032_user_0003_scene_0005_cfg_0002_037522062165#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid of the gift box to close the gift box', and now you are performing subtask 'push the lid of the gift box to close the gift 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000090/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.30993850592197125, 0.9507566053132928 ], [ 0.9670787298056924, 0.2544773670828283 ], [ -0.9805806754986125, -0.1961161350997225 ], [ 0.04537002299397493, -0.9989702503145558 ] ] }, { "task_id": "0000091", "id": "RH20T_cfg4_task_0077_user_0015_scene_0005_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a black block from one side of the table and place it on the gray base plate', and now you are performing subtask 'pick up a black block from one side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000091/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9569651997247856, -0.2902026990151908 ], [ -0.12384023974389313, -0.9923021692106568 ], [ -0.9834934965684952, 0.18094347793572324 ], [ 0.2747211278596422, 0.9615239475087477 ] ] }, { "task_id": "0000092", "id": "RH20T_cfg4_task_0013_user_0007_scene_0010_cfg_0004_104122062823#155", "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 object from the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000092/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9350006251038826, -0.3546460644859167 ], [ 0.3939192985274435, 0.9191450298973682 ], [ -0.43638878372996587, -0.8997582060946603 ], [ -0.9456765760275277, 0.32510892567392174 ] ] }, { "task_id": "0000093", "id": "RH20T_cfg4_task_0084_user_0007_scene_0001_cfg_0004_104122062823#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000093/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.17579063847747703, 0.9844275754738714 ], [ 0.9561279362558183, -0.29294943166217263 ], [ -0.07475917667366032, -0.9972016172786106 ], [ -0.9857885526292016, 0.16799086137413566 ] ] }, { "task_id": "0000094", "id": "RH20T_cfg6_task_0088_user_0020_scene_0002_cfg_0006_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block above the table and transfer it to the table below', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000094/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7225850199382152, -0.6912820617959713 ], [ -0.5982706064917453, -0.8012941291485912 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6915244099432772, 0.7223530926441738 ] ] }, { "task_id": "0000095", "id": "RH20T_cfg5_task_0052_user_0007_scene_0003_cfg_0005_104122063678#79", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000095/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07485590818740126, 0.9971943606987754 ], [ 0.9984753763414286, -0.055198938756488576 ], [ -0.9999999989999999, 0.0 ], [ -0.0036332638354925786, -0.9999933996751688 ] ] }, { "task_id": "0000096", "id": "RH20T_cfg2_task_0078_user_0014_scene_0003_cfg_0002_105422061350#20", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the handle of the microwave door to the position of closing the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000096/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04231034513221159, 0.9991045164019594 ], [ 0.9929186233689683, 0.11879649560097696 ], [ -0.9999999996666666, 0.0 ], [ -0.030878700198779543, -0.9995231392389242 ] ] }, { "task_id": "0000097", "id": "RH20T_cfg6_task_0045_user_0014_scene_0007_cfg_0006_104122064161#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000097/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9950458905090729, -0.0994166775798015 ], [ 0.14317727645112063, 0.9896970584517464 ], [ 0.999224894734088, 0.03936508279745838 ], [ 0.0, -0.9999999998571428 ] ] }, { "task_id": "0000100", "id": "RH20T_cfg2_task_0014_user_0003_scene_0002_cfg_0002_037522062165#231", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000100/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8894972672213459, 0.45694049022357114 ], [ 0.5058157121439375, -0.8626415624976119 ], [ -0.9282934300774692, -0.37184850097184313 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0000101", "id": "RH20T_cfg3_task_0016_user_0010_scene_0009_cfg_0003_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pool ball hitting action', and now you are performing subtask 'pick up the cue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000101/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8982939572840607, 0.4393950003208299 ], [ 0.28477051534362113, -0.958595719576782 ], [ -0.9889818206254453, -0.14803701723683751 ], [ -0.29408584881590144, 0.9557790086516798 ] ] }, { "task_id": "0000102", "id": "RH20T_cfg3_task_0016_user_0010_scene_0009_cfg_0003_104122062823#234", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pool ball hitting action', and now you are performing subtask 'strike the pool ball with the cue'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000102/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9715267431454366, -0.23692992076396951 ], [ -0.23118951798304826, -0.972908735069619 ], [ -0.9601559558425358, 0.2794647392071253 ], [ 0.2425356250069212, 0.9701425000276848 ] ] }, { "task_id": "0000103", "id": "RH20T_cfg3_task_0062_user_0010_scene_0006_cfg_0003_104122062823#796", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000103/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.25561862690821074, -0.9667776981175977 ], [ 0.9938837345638627, -0.11043152606265141 ], [ -0.9786078669428643, 0.20573439857626466 ], [ 0.14025691919447703, 0.9901151431111808 ] ] }, { "task_id": "0000104", "id": "RH20T_cfg1_task_0006_user_0004_scene_0002_cfg_0001_039422060546#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from right to left with the gripper', and now you are performing subtask 'push the small block from the right position to the left position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000104/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8982279879943386, -0.4395298415166398 ], [ -0.3587689075125567, -0.9334264143478299 ], [ -0.9450724745954985, 0.3268608538230619 ], [ 0.4472135954749579, 0.8944271909499159 ] ] }, { "task_id": "0000106", "id": "RH20T_cfg5_task_0050_user_0007_scene_0005_cfg_0005_104122063678#705", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000106/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9909767958997323, 0.1340335405348243 ], [ 0.13648274170372146, -0.990642448725591 ], [ 0.0, 0.9999999989999999 ], [ -0.9999848734154597, -0.005500267290522392 ] ] }, { "task_id": "0000107", "id": "RH20T_cfg6_task_0085_user_0007_scene_0002_cfg_0006_104122064161#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the bubble ring from the ball', and now you are performing subtask 'pick up the bubble ring from the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000107/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1414213562173095, 0.9899494935211665 ], [ 0.9879246257785996, 0.1549352567371734 ], [ 0.20612339253895479, -0.9785260073438171 ], [ -0.9734241130144764, -0.22900981682447577 ] ] }, { "task_id": "0000108", "id": "RH20T_cfg7_task_0017_user_0014_scene_0003_cfg_0007_104122064161#136", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000108/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989542159661561, 0.04572170604256173 ], [ -0.11741864228460554, -0.9930825053559447 ], [ 0.0, 0.99999999975 ], [ -0.9897505410736791, 0.14280709521714735 ] ] }, { "task_id": "0000109", "id": "RH20T_cfg2_task_0084_user_0014_scene_0002_cfg_0002_105422061350#-14", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000109/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9984986982418872, -0.05477544713881117 ], [ 0.0099744166933132, -0.9999502542684953 ], [ -0.997563455979649, 0.06976497182640543 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000110", "id": "RH20T_cfg6_task_0009_user_0014_scene_0002_cfg_0006_104122063633#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the Hanoi block onto the surface', and now you are performing subtask 'pick up a Hanoi block from the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000110/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04540766091658813, 0.9989685401649389 ], [ 0.9982231177840046, 0.05958697107238517 ], [ 0.018468540418205275, -0.9998294419623884 ], [ -0.9954882437605121, 0.09488496474474414 ] ] }, { "task_id": "0000111", "id": "RH20T_cfg1_task_0004_user_0014_scene_0005_cfg_0001_750612070853#112", "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 tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000111/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5463080415763676, -0.837584338266299 ], [ -0.9416299613490443, -0.3366496931378334 ], [ -0.46055813403451235, 0.8876295427568014 ], [ 0.8944271909554714, 0.4472135954777357 ] ] }, { "task_id": "0000112", "id": "RH20T_cfg5_task_0078_user_0007_scene_0002_cfg_0005_104122063678#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to close the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000112/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9317869355980956, 0.36300565649685207 ], [ 0.5584360814947286, -0.8295475531184532 ], [ -0.8646723303366007, -0.5023363028393155 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000113", "id": "RH20T_cfg5_task_0122_user_0010_scene_0008_cfg_0005_036422060215#275", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000113/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9895014150049124, -0.1445231805049839 ], [ 0.1472984044729524, -0.9890920988662898 ], [ 0.0, 0.9999999989999999 ], [ -0.9958735160837047, -0.0907520796625576 ] ] }, { "task_id": "0000114", "id": "RH20T_cfg7_task_0044_user_0014_scene_0002_cfg_0007_104122064161#64", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000114/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7108357394588141, -0.703358053560234 ], [ -0.7689754641609116, 0.6392782927008477 ], [ 0.6604276614298005, 0.7508896749978421 ], [ 0.7071067811032142, -0.7071067811032142 ] ] }, { "task_id": "0000117", "id": "RH20T_cfg7_task_0035_user_0020_scene_0008_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a block', and now you are performing subtask 'pick up the square 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000117/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.9300064695703175, -0.36754314924557363 ], [ -0.3463072775137537, -0.9381211379885926 ], [ -0.9296090814528465, 0.3685470874669816 ] ] }, { "task_id": "0000118", "id": "RH20T_cfg6_task_0002_user_0020_scene_0006_cfg_0006_104122064161#85", "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 pack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000118/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12403473457382384, -0.9922778765905907 ], [ -0.9999696546955545, 0.007790358660120828 ], [ -0.266627000636283, 0.9637997938014408 ], [ 0.9987331889149081, 0.05031915499944828 ] ] }, { "task_id": "0000119", "id": "RH20T_cfg4_task_0090_user_0014_scene_0008_cfg_0004_104122062823#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'gently push the small square', and now you are performing subtask 'gently push the small square block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000119/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8491963030281309, 0.5280773039275168 ], [ 0.5149871593025647, -0.8571978918274794 ], [ -0.7117916354640734, -0.702390680236704 ], [ -0.6097107608125176, 0.7926239890562728 ] ] }, { "task_id": "0000120", "id": "RH20T_cfg4_task_0077_user_0015_scene_0003_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) is done randomly one at a time', and now you are performing subtask 'pick up the green Lego 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000120/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271908665825, 0.44721359543329126 ], [ 0.4249651331746702, 0.9052097191180809 ], [ 0.92959366879414, -0.368585961395508 ], [ -0.46267885206897125, -0.8865259611811371 ] ] }, { "task_id": "0000123", "id": "RH20T_cfg4_task_0016_user_0010_scene_0001_cfg_0004_104122062823#97", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000123/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9729189220992766, 0.2311466439755979 ], [ 0.2801528968682862, -0.9599553918679282 ], [ -0.9502741824020573, -0.3114144798497678 ], [ -0.29408584881590144, 0.9557790086516798 ] ] }, { "task_id": "0000124", "id": "RH20T_cfg4_task_0016_user_0010_scene_0001_cfg_0004_104122062823#189", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'transfer the pool cue from the table to the pool ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000124/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.016406032685738176, -0.999865411988791 ], [ -0.9939017946283142, -0.1102688652096166 ], [ -0.11645264165335768, 0.9931962455889343 ], [ 0.9999999999230769, 0.0 ] ] }, { "task_id": "0000125", "id": "RH20T_cfg3_task_0020_user_0011_scene_0001_cfg_0003_104122062823#291", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000125/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13630750869309793, -0.9906665751270107 ], [ -0.9937763710358217, 0.1113935562358653 ], [ 0.9999999989999999, 0.0 ], [ -0.08055162509467523, 0.9967504380207751 ] ] }, { "task_id": "0000126", "id": "RH20T_cfg2_task_0091_user_0007_scene_0008_cfg_0002_037522062165#420", "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 from the left 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000126/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09984992596730922, 0.9950025086824269 ], [ 0.9994264357484314, -0.03386442864107909 ], [ -0.08081966775106342, -0.996728740081577 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0000127", "id": "RH20T_cfg6_task_0100_user_0014_scene_0008_cfg_0006_104122064161#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'pick up the glass rod beside'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000127/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9932705937827224, -0.11581678430399554 ], [ -0.21528831243749103, -0.9765505325009133 ], [ -0.9787215822413012, 0.205192749518797 ], [ 0.12933918406219186, 0.9916004111434709 ] ] }, { "task_id": "0000129", "id": "RH20T_cfg7_task_0049_user_0020_scene_0001_cfg_0007_104122064161#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000129/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9907059266061828, 0.13602120050707078 ], [ 0.01348806528619499, -0.9999090319098211 ], [ -0.9950063142458601, 0.09981199632744023 ] ] }, { "task_id": "0000130", "id": "RH20T_cfg5_task_0118_user_0010_scene_0007_cfg_0005_104122061850#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'twist the water tap clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000130/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8142419236794524, -0.5805257011733288 ], [ -0.4517663086028897, -0.8921363138059781 ], [ -0.8156751478898495, 0.5785102013922244 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0000131", "id": "RH20T_cfg6_task_0013_user_0014_scene_0003_cfg_0006_104122064161#78", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000131/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7277700485502058, -0.6858212277505203 ], [ 0.6246950474568633, -0.7808688093210792 ], [ -0.6447648590495155, 0.7643809760419594 ], [ 0.8229007813784851, 0.5681850966073281 ] ] }, { "task_id": "0000132", "id": "RH20T_cfg4_task_0004_user_0010_scene_0001_cfg_0004_104122062823#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000132/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09013040320781242, -0.9959299726474734 ], [ -0.9575920676208849, 0.2881274579583813 ], [ 0.9743911956215862, -0.2248595066819045 ], [ 0.3555837437746765, 0.9346444249890892 ] ] }, { "task_id": "0000133", "id": "RH20T_cfg1_task_0072_user_0001_scene_0004_cfg_0001_750612070853#428", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the wooden block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000133/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999998, 0.0 ], [ -0.025768483185090712, -0.9996679375044194 ], [ -0.9973465644724042, -0.07279993362011151 ], [ 0.05701446539653811, 0.998373352376528 ] ] }, { "task_id": "0000134", "id": "RH20T_cfg7_task_0016_user_0014_scene_0006_cfg_0007_104122064161#108", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000134/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988796062218985, -0.047323696748932706 ], [ 0.021997164505678225, -0.9997580331028655 ], [ -0.9995724808828891, 0.029237911375924013 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000135", "id": "RH20T_cfg6_task_0059_user_0014_scene_0001_cfg_0006_104122064161#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'turn the knob of the speaker 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000135/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6610177966835514, -0.7503702236014054 ], [ -0.8257839108544347, -0.5639866421946136 ], [ 0.79999999984, 0.59999999988 ], [ -0.6908348987361884, 0.723012546701757 ] ] }, { "task_id": "0000136", "id": "RH20T_cfg4_task_0073_user_0015_scene_0005_cfg_0004_104122062823#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'transfer the item from the open drawer to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000136/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9972321341430669, 0.07435099617667848 ], [ -0.1351132047302709, -0.9908301680219866 ], [ 0.0303239946401737, 0.999540121930612 ], [ 0.9997568432194656, -0.022051177652204854 ] ] }, { "task_id": "0000137", "id": "RH20T_cfg3_task_0026_user_0010_scene_0005_cfg_0003_104122062823#53", "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 into 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000137/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.18589166809991411, -0.9825702456709746 ], [ -0.9696391005974471, -0.24454041504948412 ], [ -0.17924409154924706, 0.9838046328640078 ], [ 0.9962386073632552, 0.08665239292092244 ] ] }, { "task_id": "0000138", "id": "RH20T_cfg2_task_0015_user_0006_scene_0009_cfg_0002_037522062165#370", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000138/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832977505137, 0.31622776591683793 ], [ 0.2317968669826183, -0.9727642121588573 ], [ -0.912818878052953, -0.4083646604080088 ], [ -0.34292955335112607, 0.9393611240829575 ] ] }, { "task_id": "0000139", "id": "RH20T_cfg4_task_0090_user_0007_scene_0001_cfg_0004_104122062823#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push a small block', and now you are performing subtask 'push the small wooden 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000139/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7300975485281072, 0.6833429370625326 ], [ 0.785311240110806, -0.6191011679488484 ], [ -0.6653124288689245, -0.7465650487348925 ], [ -0.7071067811240475, 0.7071067811240475 ] ] }, { "task_id": "0000140", "id": "RH20T_cfg5_task_0101_user_0007_scene_0006_cfg_0005_104122063678#198", "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 by 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000140/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.9160276345632811, -0.40111516141427545 ], [ -0.459602209122172, -0.8881248838817768 ], [ -0.8826883777522555, 0.469958751148536 ] ] }, { "task_id": "0000141", "id": "RH20T_cfg2_task_0084_user_0007_scene_0007_cfg_0002_037522062165#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the bubble ring around the ball on the table', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000141/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9941280661763675, -0.10820992579442958 ], [ 0.0, -0.9999999989999999 ], [ 0.1092986430709091, 0.9940089570133953 ], [ 0.9953446535960937, 0.09637956504193237 ] ] }, { "task_id": "0000142", "id": "RH20T_cfg5_task_0008_user_0010_scene_0003_cfg_0005_104122063678#426", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on the black circle', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000142/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9998875676167026, -0.014995070041644864 ], [ -0.11131744742039713, -0.9937848992109948 ], [ -0.9997771210740827, 0.021111801837336495 ] ] }, { "task_id": "0000143", "id": "RH20T_cfg1_task_0006_user_0015_scene_0010_cfg_0001_750612070851#292", "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 'push the small square block to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000143/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9920662001579804, 0.1257165641596441 ], [ -0.14631001387685927, 0.9892387880786687 ], [ 0.9998724593487135, -0.015970755647599647 ], [ 0.0, -0.9999999995 ] ] }, { "task_id": "0000144", "id": "RH20T_cfg3_task_0077_user_0010_scene_0005_cfg_0003_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) is done randomly one at a time', and now you are performing subtask 'pick up the small Lego block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000144/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7387206126582009, 0.6740117628305106 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.8043039922638452, -0.5942180475452092 ], [ -0.7220841549580898, -0.6918052277617316 ] ] }, { "task_id": "0000145", "id": "RH20T_cfg4_task_0089_user_0007_scene_0003_cfg_0004_104122062823#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block to the left of the box', and now you are performing subtask 'pick up the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000145/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4776275504286102, -0.8785624184265826 ], [ -0.8863524823319942, -0.4630110982081445 ], [ 0.8320502942609206, 0.5547001961739471 ], [ -0.5171645442644601, 0.8558859936672251 ] ] }, { "task_id": "0000146", "id": "RH20T_cfg7_task_0044_user_0014_scene_0004_cfg_0007_104122064161#68", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000146/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6359162020046221, -0.7717581123823816 ], [ -0.6734801920332326, -0.7392052698262372 ], [ -0.6096990305578075, 0.7926330122678905 ], [ 0.7787539090664369, 0.6273295378590742 ] ] }, { "task_id": "0000147", "id": "RH20T_cfg4_task_0105_user_0007_scene_0003_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small square block on the table', and now you are performing subtask 'pick up the small square block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000147/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ -0.13931591779848343, -0.9902479866417131 ], [ -0.9992258572006774, -0.039340644397008184 ], [ 0.014344067161590066, 0.9998971185763383 ] ] }, { "task_id": "0000148", "id": "RH20T_cfg6_task_0094_user_0020_scene_0004_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid on the square 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000148/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13216372008228433, 0.9912279006171324 ], [ 0.9864521666046079, -0.164049148126636 ], [ -0.2183438506859493, -0.9758718988000586 ], [ -0.9801431304226301, 0.19829131066521088 ] ] }, { "task_id": "0000149", "id": "RH20T_cfg4_task_0078_user_0007_scene_0010_cfg_0004_104122062823#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the position of closing the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000149/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999473684, 0.0 ], [ 0.10462201479381901, 0.994512058257959 ], [ 0.9884972588352942, -0.15123878231164617 ], [ -0.0829206437328658, -0.9965561533816983 ] ] }, { "task_id": "0000151", "id": "RH20T_cfg7_task_0007_user_0020_scene_0005_cfg_0007_104122064161#150", "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 piece from the bottom side of the table to the top side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000151/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.995212906888388, 0.09773059890722376 ], [ 0.131722610574641, -0.9912866153960728 ], [ 0.0, 0.9999999996666666 ], [ -0.9999997963467312, 0.0006382056847709756 ] ] }, { "task_id": "0000152", "id": "RH20T_cfg3_task_0010_user_0011_scene_0010_cfg_0003_104122062823#223", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000152/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9863359021291621, -0.16474673948534466 ], [ 0.31622776599183794, 0.9486832979755138 ], [ -0.3267416622422835, -0.9451136895395968 ], [ -0.9852508640262514, 0.17111614457883575 ] ] }, { "task_id": "0000153", "id": "RH20T_cfg7_task_0001_user_0014_scene_0008_cfg_0007_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the orange base of the red button on the desktop', and now you are performing subtask 'press the button on the orange base with the red key 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000153/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8310663441823389, 0.5561732927491236 ], [ -0.554700196071383, -0.8320502941070744 ], [ 0.5041281882595853, 0.8636288379866135 ], [ 0.7733284098322589, -0.6340056549797564 ] ] }, { "task_id": "0000155", "id": "RH20T_cfg4_task_0069_user_0007_scene_0002_cfg_0004_104122062823#227", "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 puzzle piece 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000155/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5144957553392911, -0.8574929255654853 ], [ -0.8368745413100692, 0.5473947406644141 ], [ 0.5801596029903516, 0.8145028146409794 ], [ 0.8169812894839499, -0.5766641766514914 ] ] }, { "task_id": "0000156", "id": "RH20T_cfg7_task_0010_user_0014_scene_0010_cfg_0007_104122064161#102", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000156/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9284055641672662, -0.37156844379368426 ], [ -0.2961736356930559, -0.9551341149390262 ], [ -0.9466451662257017, 0.3222777207029889 ] ] }, { "task_id": "0000157", "id": "RH20T_cfg2_task_0208_user_0007_scene_0010_cfg_0002_105422061350#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the lotus root', and now you are performing subtask 'pick up the knife from the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000157/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6578946196891103, 0.7531099981968908 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6085102407437142, 0.7935460206629651 ], [ 0.6097015984895924, -0.7926310369896172 ] ] }, { "task_id": "0000158", "id": "RH20T_cfg4_task_0124_user_0010_scene_0003_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the lever', and now you are performing subtask 'press the joystick'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000158/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08308089339377657, -0.9965428064829388 ], [ 0.9999999996666666, 0.0 ], [ -0.994197152146552, -0.10757333621156216 ], [ 0.00498260157489789, 0.9999875867637288 ] ] }, { "task_id": "0000159", "id": "RH20T_cfg6_task_0104_user_0014_scene_0008_cfg_0006_104122064161#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'slide the plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000159/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562497750944, 0.9701424999100378 ], [ 0.9929933172924178, 0.11817052006570691 ], [ 0.3842156838805313, -0.9232433635072693 ], [ -0.9873243836241771, -0.15871534740263385 ] ] }, { "task_id": "0000160", "id": "RH20T_cfg6_task_0039_user_0020_scene_0002_cfg_0006_104122064161#374", "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 with water 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000160/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2272645417261803, 0.9738330596534446 ], [ 0.9695641750030822, -0.2448373144571569 ], [ -0.22660432163367755, -0.9739869000232708 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0000161", "id": "RH20T_cfg5_task_0078_user_0007_scene_0004_cfg_0005_104122063678#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to close the door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000161/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09775805816148345, 0.9952102099880689 ], [ 0.9692486790655831, -0.24608331542309492 ], [ -0.9899494935211665, 0.1414213562173095 ], [ -0.28015461833483024, -0.9599548894743261 ] ] }, { "task_id": "0000162", "id": "RH20T_cfg1_task_0008_user_0001_scene_0003_cfg_0001_819112070044#378", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000162/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7706940912930555, -0.6372053182812989 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7090244778484077, -0.7051838695062393 ], [ -0.6567860600303388, 0.7540769664628566 ] ] }, { "task_id": "0000163", "id": "RH20T_cfg4_task_0033_user_0016_scene_0003_cfg_0004_104122062823#118", "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 the large block to move the small block to the designated position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000163/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9897572946870677, 0.14276028023836693 ], [ 0.25636323729671484, -0.9665805142680812 ], [ -0.1842885350388646, 0.9828721868739445 ], [ -0.9973441888623623, -0.07283247175866447 ] ] }, { "task_id": "0000164", "id": "RH20T_cfg2_task_0028_user_0006_scene_0006_cfg_0002_037522062165#307", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000164/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5112315369808567, 0.8594430263817323 ], [ -0.8741572760366321, 0.48564293113146223 ], [ 0.9360450264312499, -0.3518802473758945 ], [ -0.5747795517165473, -0.8183082957715417 ] ] }, { "task_id": "0000165", "id": "RH20T_cfg4_task_0118_user_0007_scene_0010_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'turn the water tap counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000165/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8294912501586508, 0.5585197095091978 ], [ -0.4327310675691666, 0.9015230574357638 ], [ 0.3149932845572933, -0.9490938998243578 ], [ -0.9429721514422674, -0.3328716293172814 ] ] }, { "task_id": "0000166", "id": "RH20T_cfg3_task_0017_user_0010_scene_0010_cfg_0003_104122062823#199", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000166/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9950288300138237, 0.09958728554048112 ], [ 0.038228443410698455, -0.9992690258956269 ], [ -0.9966902871815364, 0.08129250542323442 ] ] }, { "task_id": "0000167", "id": "RH20T_cfg4_task_0007_user_0010_scene_0004_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'push the square on the table to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000167/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.485296886440097, -0.8743494335856504 ], [ 0.9363291774594555, -0.35112344154729586 ], [ -0.9655499847335715, 0.2602176530925598 ], [ 0.3304709603059111, 0.94381616027407 ] ] }, { "task_id": "0000168", "id": "RH20T_cfg4_task_0121_user_0007_scene_0002_cfg_0004_104122062823#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'taking out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise to take it 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000168/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5812381936515288, 0.8137334711121403 ], [ 0.8277508971326393, -0.5610957603619109 ], [ -0.6662623854056741, -0.7457173953942211 ], [ -0.7287127300205302, 0.6848195069549537 ] ] }, { "task_id": "0000169", "id": "RH20T_cfg4_task_0122_user_0007_scene_0001_cfg_0004_104122062823#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000169/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067811151189, 0.7071067811151189 ], [ 0.6403858182431638, -0.7680533860305765 ], [ -0.735915670640854, -0.6770732055732396 ], [ -0.5950983279336622, 0.803652897767786 ] ] }, { "task_id": "0000171", "id": "RH20T_cfg5_task_0088_user_0007_scene_0008_cfg_0005_104122063678#262", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the small cube behind the box', and now you are performing subtask 'pick up the small cube on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000171/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6306140502871266, 0.7760965916562612 ], [ 0.6833455344854795, -0.7300951174324852 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.6275173863980348, -0.7786025492946832 ] ] }, { "task_id": "0000172", "id": "RH20T_cfg2_task_0016_user_0006_scene_0006_cfg_0002_037522062165#401", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hitting the pool ball', and now you are performing subtask 'pick up the cue stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000172/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9879556000562427, 0.15473762411743794 ], [ 0.0, 0.9999999989999999 ], [ 0.03630124926068399, -0.9993408924396688 ], [ -0.997063402095542, 0.07658049491654825 ] ] }, { "task_id": "0000173", "id": "RH20T_cfg2_task_0016_user_0006_scene_0006_cfg_0002_037522062165#599", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hitting the pool ball', and now you are performing subtask 'transfer the cue stick from the table to the pool ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000173/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.99862067158279, -0.05250480251879363 ], [ 0.0, 0.99999999975 ], [ 0.11228057033173151, -0.9936765437132856 ], [ -0.9983481571297051, -0.057453956832593966 ] ] }, { "task_id": "0000174", "id": "RH20T_cfg4_task_0329_user_0014_scene_0005_cfg_0004_038522062288#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000174/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7126310774015547, -0.701538985033262 ], [ -0.7004093489946194, -0.7137413704143355 ], [ -0.819552538506851, 0.5730040459080341 ], [ 0.668964731572726, 0.7432941461919177 ] ] }, { "task_id": "0000175", "id": "RH20T_cfg7_task_0014_user_0014_scene_0007_cfg_0007_104122064161#93", "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 cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000175/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9924372082198217, -0.12275336142381674 ], [ 0.1554957164714113, 0.987836566522541 ], [ 0.9930452655496953, -0.1177331753132275 ] ] }, { "task_id": "0000176", "id": "RH20T_cfg4_task_0035_user_0017_scene_0010_cfg_0004_104122062823#181", "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 wooden block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000176/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9904249420134861, -0.13805228805631203 ], [ 0.24253562501672515, 0.9701425000669006 ], [ -0.14977511849583236, -0.9887200887407717 ], [ -0.9747551223380823, 0.2232766254574587 ] ] }, { "task_id": "0000177", "id": "RH20T_cfg3_task_0044_user_0010_scene_0001_cfg_0003_104122062823#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000177/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9516264171924765, 0.3072574850209687 ], [ 0.1642476978085134, -0.986419126824193 ], [ -0.22651349465514742, 0.974008027017134 ], [ -0.9340502185539366, -0.35714169347661384 ] ] }, { "task_id": "0000178", "id": "RH20T_cfg7_task_0001_user_0014_scene_0004_cfg_0007_104122064161#75", "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 red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000178/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8589103638216172, -0.5121259482976989 ], [ 0.59999999997, 0.79999999996 ], [ -0.6466307267048212, -0.7628031877759787 ], [ -0.7836268865113625, 0.6212317624981102 ] ] }, { "task_id": "0000179", "id": "RH20T_cfg3_task_0038_user_0010_scene_0008_cfg_0003_104122062823#209", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000179/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9966205650803627, 0.08214285884298553 ], [ -0.08361610942466197, 0.9964980412648501 ], [ 0.0, -0.99999999975 ], [ 0.9949198147143395, 0.10067056316910264 ] ] }, { "task_id": "0000180", "id": "RH20T_cfg3_task_0028_user_0010_scene_0003_cfg_0003_104122062823#298", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer to the position of closing 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000180/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5593383156944995, 0.8289394722149744 ], [ 0.8021915400800486, -0.5970667743427028 ], [ -0.604493112394668, -0.7966103671603876 ], [ -0.732793491587943, 0.6804510993316614 ] ] }, { "task_id": "0000181", "id": "RH20T_cfg4_task_0028_user_0016_scene_0006_cfg_0004_104122062823#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'grab the handle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000181/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ 0.12745047843023752, -0.9918449352332771 ], [ -0.9947650026130552, 0.10218898950595583 ], [ 0.013639875900240322, 0.9999069725656613 ] ] }, { "task_id": "0000182", "id": "RH20T_cfg4_task_0083_user_0007_scene_0003_cfg_0004_104122062823#101", "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 tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000182/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9685675522810274, 0.24875067169424725 ], [ -0.11043152606265141, 0.9938837345638627 ], [ -0.02474660289471021, -0.9996937559298705 ], [ -0.9705597486856294, -0.240860487069357 ] ] }, { "task_id": "0000183", "id": "RH20T_cfg4_task_0001_user_0010_scene_0003_cfg_0004_104122062823#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the orange base from top to bottom', and now you are performing subtask 'press the orange base red button 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000183/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9981684966009987, -0.06049506040006053 ], [ -0.14182743237100665, 0.9898913977942467 ], [ 0.9999654630469472, -0.008310999537039844 ], [ 0.053124767457418585, -0.9985878825033855 ] ] }, { "task_id": "0000184", "id": "RH20T_cfg2_task_0032_user_0003_scene_0004_cfg_0002_037522062165#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the lid on the gift box', and now you are performing subtask 'push the lid of the gift box into alignment with 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000184/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9701424999100378, -0.24253562497750944 ], [ -0.27469557589699073, -0.961531247845134 ], [ -0.9922322124221054, 0.12439950414665742 ], [ 0.11978064479517095, 0.9928003813115974 ] ] }, { "task_id": "0000185", "id": "RH20T_cfg4_task_0010_user_0010_scene_0006_cfg_0004_104122062823#142", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000185/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8706025263658577, 0.49198703345249467 ], [ 0.4067410680196092, -0.9135434875178453 ], [ -0.4472135953999579, 0.8944271907999158 ], [ -0.9302722516990081, -0.36686991934316077 ] ] }, { "task_id": "0000186", "id": "RH20T_cfg3_task_0041_user_0010_scene_0004_cfg_0003_104122062823#145", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000186/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7392575285418385, 0.6734228289078215 ], [ 0.4224055653142631, 0.9064069386272029 ], [ 0.785451054388863, -0.6189237765342541 ], [ -0.554700196071383, -0.8320502941070744 ] ] }, { "task_id": "0000187", "id": "RH20T_cfg5_task_0047_user_0010_scene_0009_cfg_0005_104122063678#296", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000187/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7471218812767199, 0.6646870651047266 ], [ 0.6349532695759021, -0.7725505455663543 ], [ -0.7122100726236266, -0.7019663898317702 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0000188", "id": "RH20T_cfg4_task_0125_user_0007_scene_0008_cfg_0004_104122062823#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000188/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09922354837681112, 0.9950651674375477 ], [ -0.9999999998333333, 0.0 ], [ 0.9999000643334076, 0.014137232616304021 ], [ -0.0324712498473369, -0.9994726699281735 ] ] }, { "task_id": "0000189", "id": "RH20T_cfg7_task_0042_user_0020_scene_0005_cfg_0007_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (needs to be turned)', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000189/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9081782672513009, -0.41858360561830965 ], [ -0.26346294050725616, -0.9646695180108419 ], [ -0.8490760801780848, 0.5282705841417055 ], [ 0.40613846601221054, 0.9138115485274737 ] ] }, { "task_id": "0000190", "id": "RH20T_cfg3_task_0035_user_0010_scene_0010_cfg_0003_104122062823#282", "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 block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000190/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9049128084021559, 0.42559700326685 ], [ 0.351011835103156, -0.9363710224144673 ], [ -0.9505912596987667, -0.31044525601837103 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0000191", "id": "RH20T_cfg7_task_0013_user_0014_scene_0004_cfg_0007_104122064161#94", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000191/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.13216372008228433, 0.9912279006171324 ], [ 0.982715330036017, 0.1851231485044544 ], [ 0.16478731952969525, -0.9863291232252134 ], [ -0.9605420863347299, -0.2781346802894673 ] ] }, { "task_id": "0000192", "id": "RH20T_cfg6_task_0051_user_0014_scene_0006_cfg_0006_104122064161#109", "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 plate from the dish 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000192/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5881716976318029, -0.808736084243729 ], [ -0.7183341459538174, 0.6956982497870753 ], [ 0.5075357163199054, 0.8616307194266234 ], [ 0.727915741492728, -0.685666590470246 ] ] }, { "task_id": "0000193", "id": "RH20T_cfg4_task_0013_user_0010_scene_0009_cfg_0004_104122062823#88", "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 near the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000193/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9874844881048246, -0.15771615564789992 ], [ -0.11235817695206197, -0.9936677714769707 ], [ -0.9671828492342902, 0.2540813573386294 ], [ 0.1520571842423804, 0.9883716975754727 ] ] }, { "task_id": "0000194", "id": "RH20T_cfg7_task_0025_user_0014_scene_0005_cfg_0007_104122064161#86", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper', and now you are performing subtask 'fold 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000194/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9803679234417573, 0.19717691215377312 ], [ 0.11394542527303325, -0.9934870105136492 ], [ -0.2576626505520336, 0.966234939570126 ], [ -0.948016319243958, -0.3182217127210804 ] ] }, { "task_id": "0000195", "id": "RH20T_cfg2_task_0074_user_0014_scene_0008_cfg_0002_105422061350#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000195/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.15274805959824075, -0.988265161932248 ], [ -0.9994264051567786, -0.03386533146742747 ], [ 0.9999999989999999, 0.0 ], [ 0.004162772264540109, 0.9999913356260012 ] ] }, { "task_id": "0000196", "id": "RH20T_cfg3_task_0026_user_0010_scene_0003_cfg_0003_104122062823#96", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000196/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7330926259366822, -0.6801288126504123 ], [ -0.5737287977532419, -0.8190453385671759 ], [ 0.59999999994, 0.79999999992 ], [ -0.7214247689789193, 0.6924928177993711 ] ] }, { "task_id": "0000197", "id": "RH20T_cfg6_task_0028_user_0014_scene_0010_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000197/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6075355969994731, 0.7942924514172938 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.5986230479885164, -0.801030864834145 ], [ -0.72747438203912, -0.6861348435087673 ] ] }, { "task_id": "0000198", "id": "RH20T_cfg2_task_0073_user_0014_scene_0007_cfg_0002_105422061350#440", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000198/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6655806567781114, -0.7463259270069733 ], [ -0.7995854228893692, -0.6005523719900112 ], [ -0.5420889735537812, 0.8403210962194201 ], [ 0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0000199", "id": "RH20T_cfg2_task_0073_user_0014_scene_0007_cfg_0002_105422061350#587", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the block in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000199/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9284766908277882, -0.3713906763311153 ], [ -0.3845357547020849, -0.9231100981766465 ], [ -0.9208950961318053, 0.3898104948823123 ], [ 0.4651987493564229, 0.8852062604823918 ] ] }, { "task_id": "0000200", "id": "RH20T_cfg4_task_0022_user_0016_scene_0006_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000200/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6548926442936402, 0.7557219227004623 ], [ -0.8320502941070744, -0.554700196071383 ], [ 0.7708127570948006, 0.6370617658437148 ], [ 0.5379271236154142, -0.8429913461470687 ] ] }, { "task_id": "0000201", "id": "RH20T_cfg4_task_0021_user_0016_scene_0003_cfg_0004_104122062823#125", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000201/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31407014401389693, -0.9493997812508121 ], [ -0.8632345269920731, 0.5048030818138612 ], [ 0.3480516088883964, 0.9374753743700145 ], [ 0.8944271908665825, -0.44721359543329126 ] ] }, { "task_id": "0000202", "id": "RH20T_cfg7_task_0048_user_0020_scene_0003_cfg_0007_104122064161#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000202/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38162824515828625, -0.9243158997320164 ], [ -0.8699311625625602, -0.4931731667503337 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.5219648248586999, 0.8529670108569422 ] ] }, { "task_id": "0000203", "id": "RH20T_cfg6_task_0015_user_0014_scene_0008_cfg_0006_104122064161#35", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000203/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8839533789532024, -0.4675750462088584 ], [ 0.5214500094416155, 0.8532818336317343 ], [ -0.5207278305733453, -0.8537227456653462 ], [ -0.7777215538739207, 0.6286089282216204 ] ] }, { "task_id": "0000204", "id": "RH20T_cfg2_task_0079_user_0007_scene_0008_cfg_0002_105422061350#-5", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pick up the handle on the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000204/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8986656011196849, -0.43863440054651287 ], [ -0.5126922614193765, -0.8585724460292712 ], [ -0.8283433703867054, 0.5602207250150546 ], [ 0.4065514246554227, 0.913627899700226 ] ] }, { "task_id": "0000205", "id": "RH20T_cfg4_task_0017_user_0016_scene_0002_cfg_0004_104122062823#106", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000205/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.17888543818398317, 0.9838699100119074 ], [ 0.9839241367593007, -0.1785869342994192 ], [ -0.2742367712993151, -0.9616622033059878 ], [ -0.9676667488873003, 0.252232161109329 ] ] }, { "task_id": "0000206", "id": "RH20T_cfg5_task_0122_user_0010_scene_0007_cfg_0005_104122063678#260", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000206/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7364856982709542, 0.6764531145928334 ], [ 0.6067237485287623, -0.7949127580880855 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6239047625181992, -0.7815003821541672 ] ] }, { "task_id": "0000207", "id": "RH20T_cfg6_task_0053_user_0014_scene_0007_cfg_0006_104122063633#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000207/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6113815119209829, 0.7913359886174856 ], [ -0.7808688093210792, 0.6246950474568633 ], [ 0.7637206984514335, -0.6455468184081264 ], [ -0.624676496974474, -0.7808836495456286 ] ] }, { "task_id": "0000208", "id": "RH20T_cfg4_task_0089_user_0015_scene_0005_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the small block to the left side of the table, around the large 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000208/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6677736518339971, 0.7443643932351196 ], [ 0.8545958475475941, -0.519293690847876 ], [ -0.7023774430053369, -0.711804697622378 ], [ -0.8064049958123529, 0.5913636635957255 ] ] }, { "task_id": "0000209", "id": "RH20T_cfg3_task_0026_user_0010_scene_0009_cfg_0003_104122062823#185", "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 to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000209/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6660157692911094, 0.7459376616060425 ], [ 0.7818005448844271, 0.6235285943871484 ], [ 0.7395014673680174, -0.6731549448385188 ], [ -0.6608310617869682, -0.7505346812623039 ] ] }, { "task_id": "0000210", "id": "RH20T_cfg2_task_0013_user_0006_scene_0002_cfg_0002_037522062165#466", "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 countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000210/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9866851252025007, -0.1626421338525956 ], [ -0.3021383413847817, -0.9532640886266791 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.9618326695674115, 0.2736382936520882 ] ] }, { "task_id": "0000211", "id": "RH20T_cfg4_task_0059_user_0016_scene_0006_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'turn the knob clockwise to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000211/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.11592621630519687, -0.9932578277432103 ], [ -0.9969433081886729, 0.07812835757792964 ], [ 0.044695407872937416, 0.9990006609182358 ] ] }, { "task_id": "0000212", "id": "RH20T_cfg6_task_0012_user_0014_scene_0007_cfg_0006_104122064161#61", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000212/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5812381936515288, 0.8137334711121403 ], [ 0.7336483513188888, 0.6795293199024427 ], [ 0.6826302177877078, -0.7307639740457289 ], [ -0.8396011237953904, -0.5432034176268754 ] ] }, { "task_id": "0000213", "id": "RH20T_cfg4_task_0045_user_0014_scene_0010_cfg_0004_104122062823#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000213/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.999999999875 ], [ 0.998305996770288, -0.058181928573071064 ], [ 0.0446183137637819, -0.9990041071371413 ], [ -0.9980595790590941, -0.062266175797007176 ] ] }, { "task_id": "0000215", "id": "RH20T_cfg4_task_0028_user_0016_scene_0010_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close it', and now you are performing subtask 'push the drawer to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000215/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4788521306423567, 0.8778955728443206 ], [ 0.8651662290636847, 0.5014851902975042 ], [ 0.46037446655557157, -0.8877248169019908 ], [ -0.9057534459184857, -0.42380502027086564 ] ] }, { "task_id": "0000216", "id": "RH20T_cfg4_task_0085_user_0007_scene_0009_cfg_0004_104122062823#86", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000216/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6097107608125176, 0.7926239890562728 ], [ 0.8262592580951739, -0.5632900127039471 ], [ -0.5686924425844175, -0.8225502451202413 ], [ -0.7306103132700531, 0.6827946764170287 ] ] }, { "task_id": "0000217", "id": "RH20T_cfg3_task_0077_user_0010_scene_0002_cfg_0003_104122062823#149", "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 green small Lego block at the top left corner'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000217/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0501562321267247, -0.998741384132474 ], [ 0.9999999989999999, 0.0 ], [ -0.9987959947550701, -0.049056710664596666 ], [ -0.049612684129730106, 0.9987685325306578 ] ] }, { "task_id": "0000220", "id": "RH20T_cfg4_task_0009_user_0016_scene_0008_cfg_0004_104122062823#169", "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 ring on the wooden 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000220/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.596510570229458, -0.8026052202699202 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6260436614195908, -0.7797880058043678 ], [ -0.8090040244094086, 0.5878031035043803 ] ] }, { "task_id": "0000221", "id": "RH20T_cfg4_task_0050_user_0014_scene_0003_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000221/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.35064604340216976, -0.9365080630973786 ], [ -0.9373791460504801, -0.34831068968619505 ], [ 0.9647638211531168, 0.26311740576903186 ], [ -0.2807625355207526, 0.9597772651235068 ] ] }, { "task_id": "0000222", "id": "RH20T_cfg1_task_0103_user_0010_scene_0010_cfg_0001_819112070044#210", "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 'slide the plate from the table to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000222/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998527000490347, 0.017163280707812593 ], [ 0.14903905608765836, -0.9888313100627931 ], [ 0.0, 0.9999999989999999 ], [ -0.9999115040692765, 0.013303534489652083 ] ] }, { "task_id": "0000223", "id": "RH20T_cfg4_task_0105_user_0007_scene_0019_cfg_0004_104122062823#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000223/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973022715249442, 0.07340421793866035 ], [ -0.11913366078153352, -0.9928782255990866 ], [ -0.997594223265687, 0.06932363022037039 ], [ 0.017854296416564167, 0.9998405993275934 ] ] }, { "task_id": "0000224", "id": "RH20T_cfg4_task_0006_user_0010_scene_0006_cfg_0004_104122062823#225", "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 square to the left side of the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000224/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.26493422385280163, 0.9642664865230532 ], [ -0.91914502999392, 0.39391929856882285 ], [ 0.9298975011754971, -0.36781875605733666 ], [ -0.32222423232703323, -0.9466633742261577 ] ] }, { "task_id": "0000225", "id": "RH20T_cfg2_task_0208_user_0007_scene_0007_cfg_0002_105422061350#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the lotus root', and now you are performing subtask 'pick up the knife on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000225/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9096527454923715, 0.41536957353444987 ], [ 0.3631218985702155, -0.9317416416468474 ], [ -0.9561624999406659, -0.2928365989886101 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000226", "id": "RH20T_cfg4_task_0109_user_0007_scene_0005_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000226/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28734788553882246, 0.9578262851294083 ], [ 0.928943366293696, -0.37022185540421054 ], [ -0.1569742774328528, -0.9876026914829839 ], [ -0.9717144469677161, 0.23615891588975751 ] ] }, { "task_id": "0000227", "id": "RH20T_cfg3_task_0077_user_0010_scene_0008_cfg_0003_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the green 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000227/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7698158818576496, -0.638266016673087 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.5996760546950707, -0.8002428565287881 ], [ -0.7744259273954929, 0.6326645896346901 ] ] }, { "task_id": "0000228", "id": "RH20T_cfg5_task_0091_user_0007_scene_0001_cfg_0005_104122063678#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block from the pink box to the blue box', and now you are performing subtask 'pick up the cube from the pink box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000228/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.966618589964962, 0.2562196353407536 ], [ 0.4323283981786116, -0.9017162281606759 ], [ -0.9692536388034141, -0.2460637796717368 ] ] }, { "task_id": "0000229", "id": "RH20T_cfg5_task_0015_user_0007_scene_0005_cfg_0005_104122063678#225", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000229/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9926648059960184, -0.12089906094295036 ], [ 0.0, 0.9999999989999999 ], [ -0.11940035459678693, -0.992846189156287 ], [ -0.992398234077998, 0.12306805027654863 ] ] }, { "task_id": "0000230", "id": "RH20T_cfg4_task_0046_user_0014_scene_0013_cfg_0004_104122062823#118", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000230/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9714070435671508, -0.2374202091400975 ], [ 0.16439898727833027, -0.9863939236699816 ], [ -0.272417558849531, 0.9621791276214956 ], [ 0.9913585798243187, 0.13117990017037628 ] ] }, { "task_id": "0000231", "id": "RH20T_cfg2_task_0083_user_0007_scene_0002_cfg_0002_037522062165#274", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000231/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.40056003763438836, -0.9162705147773432 ], [ -0.9403323613995679, -0.3402573292446653 ], [ -0.44939344935392783, 0.8933339396204416 ] ] }, { "task_id": "0000232", "id": "RH20T_cfg4_task_0064_user_0016_scene_0004_cfg_0004_104122062823#89", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000232/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990282349228846, 0.04407477507012726 ], [ 0.03163591695286916, -0.9994994591086837 ], [ -0.9939044332429245, 0.11024507961837042 ], [ 0.0391308452401631, 0.9992340951702912 ] ] }, { "task_id": "0000233", "id": "RH20T_cfg6_task_0038_user_0020_scene_0006_cfg_0006_104122064161#113", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000233/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.5492044756569516, 0.8356880063267469 ], [ 0.8595066205239585, -0.5111246122771668 ], [ -0.4265054325466716, -0.9044850004329407 ] ] }, { "task_id": "0000234", "id": "RH20T_cfg5_task_0052_user_0007_scene_0009_cfg_0005_104122063678#240", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000234/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6327369157639844, 0.7743668351818023 ], [ 0.6254501184149527, -0.7802641535882076 ], [ -0.6355818813153269, -0.7720334656889362 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000235", "id": "RH20T_cfg4_task_0104_user_0015_scene_0006_cfg_0004_104122062823#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'pull the plate back to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000235/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08696722562945333, 0.9962111732290077 ], [ 0.9937365432684588, 0.11174830008932843 ], [ -0.0825959143534131, -0.9965831199313601 ], [ -0.9999999999473684, 0.0 ] ] }, { "task_id": "0000236", "id": "RH20T_cfg5_task_0064_user_0007_scene_0009_cfg_0005_104122063678#239", "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 down the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000236/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9881735012191875, -0.15333992137800417 ], [ 0.0, 0.99999999975 ], [ -0.11458970457604414, -0.9934129048916039 ], [ -0.9892879484357092, 0.14597724165042159 ] ] }, { "task_id": "0000237", "id": "RH20T_cfg3_task_0029_user_0010_scene_0006_cfg_0003_104122062823#207", "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 lower 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000237/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9958932063775399, 0.09053574603432181 ], [ 0.1744164851114387, 0.9846719706183228 ], [ 0.9991374719660338, 0.04152483730640333 ], [ 0.06074791291810037, -0.9981531400922882 ] ] }, { "task_id": "0000239", "id": "RH20T_cfg5_task_0014_user_0010_scene_0008_cfg_0005_104122063678#262", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000239/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993501333264108, -0.036045957061578565 ], [ 0.03625358925583451, -0.9993426225604857 ], [ -0.9999983648232755, -0.0018084111189278322 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000240", "id": "RH20T_cfg4_task_0035_user_0016_scene_0005_cfg_0004_104122062823#80", "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 cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000240/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5409775901358328, -0.8410370068973344 ], [ 0.7893522173070956, 0.6139406134610743 ], [ -0.7973728752158143, -0.6034869492127111 ], [ -0.5889632177171454, 0.8081598407346571 ] ] }, { "task_id": "0000241", "id": "RH20T_cfg2_task_0009_user_0013_scene_0006_cfg_0002_105422061350#232", "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 a Hanoi block from the red base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000241/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8213929361348634, -0.5703627306089942 ], [ -0.4989664107427263, -0.8666213250033263 ], [ -0.881964375591458, 0.4713160724901812 ] ] }, { "task_id": "0000242", "id": "RH20T_cfg6_task_0101_user_0014_scene_0010_cfg_0006_104122064161#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cleaning cloth along the tabletop to clean'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000242/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9990907939689279, 0.04263314915107025 ], [ -0.11901942584634238, 0.9928919257760167 ], [ 0.9976091849036297, 0.06910798937833047 ] ] }, { "task_id": "0000243", "id": "RH20T_cfg6_task_0047_user_0014_scene_0010_cfg_0006_104122064161#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the cup from the cup rack to another cup', and now you are performing subtask 'pick up the cup from the cup rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000243/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9911296461130051, 0.13289855001432188 ], [ -0.0382029682001773, -0.9992700001604653 ], [ -0.9984512369866742, 0.05563386881909651 ] ] }, { "task_id": "0000244", "id": "RH20T_cfg4_task_0007_user_0010_scene_0005_cfg_0004_104122062823#-23", "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 piece from the right side to the left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000244/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6347277046835693, -0.7727358804320709 ], [ -0.6760379607119504, 0.7368667964268897 ], [ 0.7175806916131716, -0.6964753771539607 ], [ 0.6784845029151212, 0.7346147148703333 ] ] }, { "task_id": "0000245", "id": "RH20T_cfg2_task_0028_user_0003_scene_0008_cfg_0002_037522062165#368", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000245/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9701337968394164, 0.24257043560569766 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.22644366469993987, -0.9740242639263467 ], [ -0.9532838622640103, -0.3020759473162528 ] ] }, { "task_id": "0000247", "id": "RH20T_cfg5_task_0050_user_0007_scene_0008_cfg_0005_104122063678#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000247/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8598043974941992, -0.5106235384798051 ], [ -0.4646854102282961, -0.8854758435558591 ], [ -0.9475029375362386, 0.3197470615348932 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000248", "id": "RH20T_cfg3_task_0067_user_0010_scene_0002_cfg_0003_104122062823#151", "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 a button from top to bottom while avoiding obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000248/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49042052383327134, 0.8714859205994666 ], [ 0.8545197639024618, -0.5194188801921636 ], [ -0.5514853091253342, -0.8341846041608144 ], [ -0.9048187021528354, 0.4257970363072167 ] ] }, { "task_id": "0000250", "id": "RH20T_cfg3_task_0047_user_0010_scene_0005_cfg_0003_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'take the cup off 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000250/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135954599579, 0.8944271909199158 ], [ 0.8565064388665173, -0.5161363387518813 ], [ -0.5304717632176597, -0.8477026061236023 ], [ -0.8854968394592514, 0.4646453995335333 ] ] }, { "task_id": "0000251", "id": "RH20T_cfg6_task_0063_user_0007_scene_0003_cfg_0006_104122063633#169", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000251/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.002755423996139068, -0.9999962038120953 ], [ -0.9999668910231893, 0.008137374110691658 ], [ 0.07423246160604001, 0.9972409646840166 ] ] }, { "task_id": "0000252", "id": "RH20T_cfg6_task_0063_user_0007_scene_0003_cfg_0006_104122063633#310", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a shovel to scoop up an object', and now you are performing subtask 'transfer the shovel from the table to under the object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000252/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9386727687576936, 0.34480927074654727 ], [ 0.35132996625467605, -0.9362517048376938 ], [ -0.9750162947336725, -0.22213334959843445 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000253", "id": "RH20T_cfg2_task_0006_user_0003_scene_0005_cfg_0002_104122061850#283", "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 'push the small block from the left side of the cardboard to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000253/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999996666666 ], [ -0.9888258428929979, 0.1490753246749852 ], [ -0.006978971683634982, 0.9999756466805775 ], [ 0.9931056741985311, 0.1172225228984642 ] ] }, { "task_id": "0000254", "id": "RH20T_cfg7_task_0064_user_0014_scene_0004_cfg_0007_104122064161#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000254/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.21693045779512676, 0.9761870600780704 ], [ 0.9762826813192687, -0.21649971398609114 ], [ -0.2603036105722603, -0.9655268149166263 ], [ -0.9961404971110807, 0.0877730597352577 ] ] }, { "task_id": "0000255", "id": "RH20T_cfg5_task_0122_user_0007_scene_0005_cfg_0005_104122063678#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000255/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999713232407135, 0.007573156291576866 ], [ 0.0, 0.9999999989999999 ], [ -0.0759261240428463, -0.9971134457461851 ], [ -0.9913271413753925, 0.1314172696889293 ] ] }, { "task_id": "0000256", "id": "RH20T_cfg4_task_0093_user_0014_scene_0006_cfg_0004_038522062288#191", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the photo frame holder', and now you are performing subtask 'pick up the photo frame 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000256/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8756639419535391, 0.48292096740811424 ], [ 0.4754829236890805, -0.8797249509250514 ], [ -0.8752715711148141, -0.4836317574334887 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0000257", "id": "RH20T_cfg4_task_0085_user_0007_scene_0003_cfg_0004_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'tap the small ball', and now you are performing subtask 'strike the ball 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000257/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7842782324770365, -0.620409263359837 ], [ 0.5472493629650863, 0.8369696139466026 ], [ -0.5108621995187363, -0.8596626158574531 ], [ -0.8333682480951281, 0.5527181587996336 ] ] }, { "task_id": "0000258", "id": "RH20T_cfg5_task_0062_user_0007_scene_0009_cfg_0005_104122063678#204", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000258/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9881501024470677, 0.15349063500373447 ], [ 0.14247463275247121, -0.9897984537379559 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9741103385946571, -0.22607310375850215 ] ] }, { "task_id": "0000260", "id": "RH20T_cfg7_task_0035_user_0020_scene_0005_cfg_0007_104122064161#93", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000260/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9747717029508529, -0.22320422739342152 ], [ -0.2695179575220204, -0.9629953637339894 ], [ -0.9884702435700061, 0.15141524882472313 ], [ 0.24253562501672515, 0.9701425000669006 ] ] }, { "task_id": "0000262", "id": "RH20T_cfg7_task_0076_user_0014_scene_0008_cfg_0007_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000262/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9912455318166656, -0.13203141919064498 ], [ -0.18954045505183792, -0.9818729122950395 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.911982821695755, 0.4102283911820935 ] ] }, { "task_id": "0000263", "id": "RH20T_cfg4_task_0107_user_0007_scene_0009_cfg_0004_104122062823#107", "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 ground'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000263/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08162033569582039, 0.9966634942651916 ], [ 0.9654898258953484, 0.26044077271535243 ], [ -0.9761870600780704, -0.21693045779512676 ], [ 0.2054775413196106, -0.9786618312845595 ] ] }, { "task_id": "0000264", "id": "RH20T_cfg7_task_0009_user_0020_scene_0008_cfg_0007_104122064161#106", "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 tower block on the red wooden board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000264/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7855216532397319, 0.6188341718841313 ], [ 0.5984366538648718, -0.8011701263221287 ], [ -0.8977453527957224, -0.440514791503854 ] ] }, { "task_id": "0000265", "id": "RH20T_cfg2_task_0064_user_0007_scene_0001_cfg_0002_105422061350#130", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000265/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9915063097231611, 0.13005859363824826 ], [ 0.18596718039092533, -0.9825559565833638 ], [ -0.1961161350997225, 0.9805806754986125 ], [ -0.9968939763064509, -0.07875531730564835 ] ] }, { "task_id": "0000266", "id": "RH20T_cfg6_task_0025_user_0014_scene_0003_cfg_0006_104122064161#29", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end pressed down by a weight', and now you are performing subtask 'unfold the paper at the current position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000266/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9738950875188603, 0.22699858701461395 ], [ 0.07038167853749219, -0.9975201347974111 ], [ -0.9806535450422214, -0.19575143574473228 ], [ -0.09950371901109793, 0.9950371901109792 ] ] }, { "task_id": "0000267", "id": "RH20T_cfg6_task_0094_user_0020_scene_0003_cfg_0006_104122064161#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the blue box on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000267/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9663182027400967, 0.2573502109055853 ], [ 0.2570074678514338, -0.9664094171046732 ], [ -0.9805981407281935, -0.19602878972337226 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000268", "id": "RH20T_cfg4_task_0086_user_0015_scene_0001_cfg_0004_104122062823#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the pen 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000268/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9556974449892235, -0.29435080030648864 ], [ -0.26539415710001885, -0.9641400009216351 ], [ -0.9257755391831514, 0.3780736053338628 ], [ 0.3417430630575073, 0.939793423408145 ] ] }, { "task_id": "0000269", "id": "RH20T_cfg4_task_0086_user_0015_scene_0001_cfg_0004_104122062823#315", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'transfer the pen from the table to in front of the phone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000269/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.34741447147705634, -0.9377116747744574 ], [ -0.9774147350564464, 0.21133015803367192 ], [ 0.9743911956215862, -0.2248595066819045 ], [ 0.2495293603927792, 0.9683672331827273 ] ] }, { "task_id": "0000270", "id": "RH20T_cfg5_task_0046_user_0007_scene_0008_cfg_0005_104122063678#291", "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 blue cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000270/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990672269450225, -0.043181894867906113 ], [ 0.0, 0.9999999989999999 ], [ -0.04648679775901688, -0.9989189044332439 ], [ -0.9999444504490754, -0.01054020949016682 ] ] }, { "task_id": "0000271", "id": "RH20T_cfg7_task_0031_user_0020_scene_0009_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the box at 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000271/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9880532396176334, -0.1541129315829781 ], [ -0.37057588866155017, -0.9288021913963719 ], [ -0.9829166775849002, 0.18405109324712343 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0000272", "id": "RH20T_cfg4_task_0002_user_0010_scene_0010_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin from the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000272/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.76398534258564, 0.6452335982528362 ], [ -0.6225235658104663, 0.782601054161729 ], [ 0.6861452331486428, -0.7274645826618603 ], [ -0.8642808207393468, -0.5030096051787889 ] ] }, { "task_id": "0000273", "id": "RH20T_cfg4_task_0046_user_0014_scene_0005_cfg_0004_104122062823#296", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000273/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9913197636322605, -0.13147291063971797 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.2321793854733198, -0.9726729835670526 ], [ -0.9750037434520187, 0.22218843411516812 ] ] }, { "task_id": "0000274", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#363", "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 'place the first block in the designated building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000274/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6527621901250587, 0.7575628839529672 ], [ -0.7592566022829437, 0.6507913733853803 ], [ 0.8111107956063724, -0.5848925347880561 ], [ -0.5629881935027929, -0.8264649381410332 ] ] }, { "task_id": "0000275", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#496", "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 'place the second block in the designated building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000275/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6015549790910826, 0.7988314009418553 ], [ -0.8516583166487499, 0.52409742563 ], [ 0.7674819625420606, -0.6410705399350272 ], [ -0.63419762005111, -0.7731709893170514 ] ] }, { "task_id": "0000276", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#654", "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 'transfer the block from the table to the building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000276/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31726143216653196, 0.9483381167387722 ], [ 0.9359051936997129, -0.35225199560244197 ], [ -0.8944271908665825, 0.44721359543329126 ], [ -0.45354519241134456, -0.8912332794732009 ] ] }, { "task_id": "0000277", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#782", "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 'transfer the block from the table to the building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000277/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5081776938225864, 0.8612522461515892 ], [ 0.8739893094272968, -0.4859451481461636 ], [ -0.3635791757320717, -0.9315633005727455 ], [ -0.9048187021528354, 0.4257970363072167 ] ] }, { "task_id": "0000278", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#955", "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 'transfer the block from the table to the building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000278/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.15779750542050117, 0.9874714918837236 ], [ 0.9867249356028989, -0.16240043552729555 ], [ -0.10121832904788966, -0.9948642369010725 ], [ -0.9988681376769262, 0.047565149413186965 ] ] }, { "task_id": "0000279", "id": "RH20T_cfg3_task_0062_user_0010_scene_0001_cfg_0003_104122062823#148", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000279/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9008297722247873, -0.4341724559128986 ], [ 0.554700196148306, 0.8320502942224591 ], [ -0.4545488080769045, -0.8907218314804378 ], [ -0.74499184923421, 0.6670735675880075 ] ] }, { "task_id": "0000280", "id": "RH20T_cfg6_task_0005_user_0014_scene_0002_cfg_0006_104122064161#46", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000280/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07974932323446103, 0.9968149504515096 ], [ -0.9999999989999999, 0.0 ], [ 0.9929972606703436, -0.1181373789331464 ], [ -0.06646028188412319, -0.997789071363223 ] ] }, { "task_id": "0000281", "id": "RH20T_cfg4_task_0222_user_0014_scene_0005_cfg_0004_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000281/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04420097085245474, -0.9990226594906146 ], [ -0.9998910045963584, 0.014764109430822878 ], [ -0.08660386131127343, 0.9962428274301289 ], [ 0.9992009586818533, -0.03996803834727413 ] ] }, { "task_id": "0000282", "id": "RH20T_cfg5_task_0001_user_0020_scene_0010_cfg_0005_104122063678#181", "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 red button on the control panel from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000282/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983292798428798, 0.05778104367694594 ], [ -0.16439898727833027, 0.9863939236699816 ], [ 0.1019109762037506, -0.9947935227619843 ], [ -0.9992043559040596, -0.03988301822020676 ] ] }, { "task_id": "0000283", "id": "RH20T_cfg4_task_0213_user_0014_scene_0007_cfg_0004_104122062823#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000283/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7089376799803953, 0.7052711293566574 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.7691576722474358, 0.639059054566091 ], [ 0.6736159061652088, -0.7390815996635449 ] ] }, { "task_id": "0000284", "id": "RH20T_cfg4_task_0090_user_0014_scene_0005_cfg_0004_104122062823#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000284/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9951491826159904, -0.09837735683949912 ], [ 0.09950371901604842, 0.9950371901604842 ], [ -0.15414844077576909, -0.9880477003699767 ], [ -0.9836600855074398, 0.18003565252331655 ] ] }, { "task_id": "0000285", "id": "RH20T_cfg6_task_0039_user_0014_scene_0009_cfg_0006_104122064161#300", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pour the contents of the first cup into the second cup', and now you are performing subtask 'pick up the first 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000285/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.79571158158798, 0.6056757209322124 ], [ 0.7565424858579435, -0.6539445443551642 ], [ -0.5984519796758782, -0.8011586784289504 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0000286", "id": "RH20T_cfg3_task_0012_user_0010_scene_0004_cfg_0003_104122062823#212", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000286/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5678380491337623, 0.8231402978569102 ], [ 0.7553344361908185, -0.6553395223121357 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.5278968170595212, -0.8493085131672862 ] ] }, { "task_id": "0000288", "id": "RH20T_cfg3_task_0076_user_0010_scene_0007_cfg_0003_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the small Lego block on top of the building and press down', and now you are performing subtask 'pick up the small Lego block from the right side of the base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000288/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8192319204966692, 0.5734623443476684 ], [ 0.6161148889899609, -0.7876562978640418 ], [ -0.7457080855618151, -0.666272805334071 ], [ -0.6884004313483143, 0.7253308528660938 ] ] }, { "task_id": "0000289", "id": "RH20T_cfg5_task_0044_user_0007_scene_0002_cfg_0005_104122063678#277", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the purple bag to the designated position', and now you are performing subtask 'pick up the purple bag on the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000289/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9986546704743717, 0.05185411400963422 ], [ -0.03516752899032486, -0.9993814311386392 ], [ -0.9998407714956982, 0.01784465339778765 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0000290", "id": "RH20T_cfg4_task_0102_user_0014_scene_0013_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000290/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9081897411471291, -0.4185587104279526 ], [ -0.31788931400353476, -0.9481278310662345 ], [ -0.8742616082923916, 0.4854550857350255 ], [ 0.36652451837215677, 0.9304083927908595 ] ] }, { "task_id": "0000291", "id": "RH20T_cfg1_task_0006_user_0004_scene_0005_cfg_0001_039422060546#211", "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 'push the small block from left to right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000291/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0516710780790953, -0.9986641576076234 ], [ -0.9999860711368297, -0.005278023524728551 ], [ 0.9999999989999999, 0.0 ], [ -0.08110806513029782, 0.9967053134055318 ] ] }, { "task_id": "0000292", "id": "RH20T_cfg4_task_0089_user_0014_scene_0010_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the box to the left side of the block to the green 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000292/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.21601353381786934, -0.9763903692722068 ], [ -0.9905132390130345, 0.1374173327492107 ], [ 0.09329623958396095, 0.9956383940364555 ], [ 0.9805806754986125, -0.1961161350997225 ] ] }, { "task_id": "0000293", "id": "RH20T_cfg4_task_0035_user_0017_scene_0006_cfg_0004_104122062823#164", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000293/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9191450298973682, 0.3939192985274435 ], [ 0.2615565055249375, 0.9651881652908844 ], [ 0.9571921584556055, -0.2894532290217182 ], [ -0.3706794456154701, -0.9287608672840431 ] ] }, { "task_id": "0000294", "id": "RH20T_cfg7_task_0045_user_0020_scene_0010_cfg_0007_104122064161#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush on the Rubik's cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000294/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999230769 ], [ 0.9940906286117183, -0.10855331458025114 ], [ -0.1041025943130634, -0.9945665638142526 ], [ -0.998689450486899, 0.05117989337792481 ] ] }, { "task_id": "0000295", "id": "RH20T_cfg4_task_0088_user_0007_scene_0006_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000295/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9974108172347039, 0.07191426606174903 ], [ 0.0, 0.9999999998571428 ], [ -0.008553044094043926, -0.9999634220493895 ], [ -0.99151651251589, 0.12998078861249798 ] ] }, { "task_id": "0000296", "id": "RH20T_cfg5_task_0026_user_0010_scene_0005_cfg_0005_104122063678#160", "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 to close 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000296/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8441961188429038, -0.5360344325979236 ], [ -0.6724944280745406, -0.7401021849776533 ], [ -0.8369105240695549, 0.5473397251265644 ], [ 0.59999999994, 0.79999999992 ] ] }, { "task_id": "0000297", "id": "RH20T_cfg3_task_0064_user_0010_scene_0001_cfg_0003_104122062823#272", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000297/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1937590027889906, 0.9810491571976483 ], [ -0.9805806754986125, -0.1961161350997225 ], [ 0.9558014270767425, 0.29401297930204123 ], [ 0.3467345116919887, -0.9379633139956585 ] ] }, { "task_id": "0000299", "id": "RH20T_cfg7_task_0044_user_0014_scene_0009_cfg_0007_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000299/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8030844784892318, -0.5958651864387435 ], [ -0.7045487723549646, -0.7096555695357518 ], [ 0.59999999994, 0.79999999992 ], [ -0.7651032431331576, 0.643907623302539 ] ] }, { "task_id": "0000300", "id": "RH20T_cfg7_task_0035_user_0014_scene_0003_cfg_0007_104122064161#69", "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 block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000300/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.26311740576903186, 0.9647638211531168 ], [ 0.9743388549857631, 0.22508619607837352 ], [ 0.26845694339077775, -0.9632916845614732 ], [ -0.945877125184414, -0.3245249821706619 ] ] }, { "task_id": "0000301", "id": "RH20T_cfg6_task_0059_user_0014_scene_0010_cfg_0006_104122064161#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'pick up the knob'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000301/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.004499092477877061, -0.9999898790322208 ], [ -0.9971083695018488, -0.07599275932195589 ], [ 0.9999999989999999, 0.0 ], [ -0.04665295212305003, 0.9989111582409141 ] ] }, { "task_id": "0000302", "id": "RH20T_cfg5_task_0038_user_0007_scene_0007_cfg_0005_104122063678#253", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the cup to the right', and now you are performing subtask 'pick up the cup from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000302/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7838341747685363, -0.6209701977268536 ], [ -0.6509884773079968, -0.7590876118158006 ], [ -0.6896703161992128, 0.7241235080797183 ] ] }, { "task_id": "0000303", "id": "RH20T_cfg5_task_0005_user_0010_scene_0007_cfg_0005_104122063678#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 'press the side of the small block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000303/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6839761246347608, 0.7295043940440759 ], [ 0.6889725782895139, -0.7247874077031828 ], [ -0.6390031770983383, -0.769204094930747 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0000304", "id": "RH20T_cfg7_task_0004_user_0014_scene_0007_cfg_0007_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the large block next to the two small blocks', 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000304/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9297926801489877, 0.36808364802224286 ], [ -0.2425356250069212, 0.9701425000276848 ], [ 0.1731840188383132, -0.9848894839620387 ], [ -0.9433978007096533, -0.3316633679141989 ] ] }, { "task_id": "0000305", "id": "RH20T_cfg4_task_0002_user_0010_scene_0004_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin out of the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000305/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7182389539005324, 0.6957965256451552 ], [ 0.7588068578311492, -0.6513157087837036 ], [ -0.7071067811240475, 0.7071067811240475 ], [ -0.6037000407405587, -0.7972115533594881 ] ] }, { "task_id": "0000306", "id": "RH20T_cfg6_task_0004_user_0014_scene_0003_cfg_0006_104122064161#74", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000306/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6299484606025021, -0.7766369402652297 ], [ -0.7082778022638946, 0.7059338175921505 ], [ 0.7221090978054377, 0.6917791922764206 ], [ 0.7071067811240475, -0.7071067811240475 ] ] }, { "task_id": "0000307", "id": "RH20T_cfg7_task_0049_user_0020_scene_0006_cfg_0007_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel counterclockwise', and now you are performing subtask 'turn the steering wheel counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000307/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776596683794, 0.9486832979005138 ], [ 0.9678098426135602, -0.251682555097321 ], [ -0.3722846231554921, -0.928118612765617 ], [ -0.9719889980072128, 0.23502635544324502 ] ] }, { "task_id": "0000308", "id": "RH20T_cfg3_task_0085_user_0010_scene_0007_cfg_0003_104122062823#161", "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 from the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000308/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44170946875163786, -0.8971581495004912 ], [ -0.8466329166672052, -0.532177324221524 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.3486176036623076, 0.9372650459804581 ] ] }, { "task_id": "0000309", "id": "RH20T_cfg2_task_0019_user_0003_scene_0006_cfg_0002_037522062165#502", "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 stone from the left 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000309/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9941106247484697, 0.1083700408886484 ], [ -0.08486657050657061, -0.9963923249455775 ], [ 0.0, 0.9999999989999999 ], [ -0.9998446342208095, 0.017626894787674825 ] ] }, { "task_id": "0000310", "id": "RH20T_cfg6_task_0051_user_0014_scene_0008_cfg_0006_104122064161#40", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000310/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9960869339234448, -0.08837884400121358 ], [ -0.096351593003365, 0.9953473617414746 ], [ 0.0, -0.9999999996666666 ], [ 0.9903211988686161, -0.13879453545232576 ] ] }, { "task_id": "0000311", "id": "RH20T_cfg7_task_0044_user_0020_scene_0009_cfg_0007_104122064161#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up an object from the desk', and now you are performing subtask 'pick up the object from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000311/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998571428 ], [ 0.9987208578724511, 0.050563307353408644 ], [ -0.07248573732038682, -0.9973694490433923 ], [ -0.9966674281177816, 0.08157228530013473 ] ] }, { "task_id": "0000312", "id": "RH20T_cfg7_task_0050_user_0014_scene_0001_cfg_0007_104122064161#71", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000312/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.26996981605466475, -0.9628687856709296 ], [ -0.9595850276902751, 0.2814188597671701 ], [ 0.9805806754986125, -0.1961161350997225 ], [ 0.17935594594994836, 0.9837842470035792 ] ] }, { "task_id": "0000313", "id": "RH20T_cfg6_task_0047_user_0014_scene_0008_cfg_0006_104122064161#120", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000313/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979005138, 0.31622776596683794 ], [ 0.34286201579354486, -0.9393857770511468 ], [ -0.9747753929009668, -0.22318811212689119 ], [ -0.4431519594241488, 0.8964465075276592 ] ] }, { "task_id": "0000314", "id": "RH20T_cfg6_task_0068_user_0014_scene_0004_cfg_0006_104122064161#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button', and now you are performing subtask 'press the red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000314/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970954475754167, -0.07616211935325518 ], [ 0.0, 0.9999999995 ], [ 0.11430296426372646, -0.9934459383179969 ], [ -0.9989998403531432, -0.04471374480397094 ] ] }, { "task_id": "0000315", "id": "RH20T_cfg4_task_0101_user_0015_scene_0001_cfg_0004_104122062823#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide a cloth 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000315/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38334107699224856, -0.9236068528819082 ], [ 0.9138115485274737, 0.40613846601221054 ], [ -0.9433915282667004, -0.33168120898630876 ], [ -0.44747759856681957, 0.894295140756603 ] ] }, { "task_id": "0000316", "id": "RH20T_cfg6_task_0001_user_0015_scene_0001_cfg_0006_104122064161#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000316/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902668703348118, -0.13918162780086077 ], [ -0.24700817388758256, -0.9690133962091143 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.9381343723571797, 0.34627142446641584 ] ] }, { "task_id": "0000317", "id": "RH20T_cfg6_task_0017_user_0014_scene_0004_cfg_0006_104122064161#57", "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 surface next to the pen holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000317/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776596683794, 0.9486832979005138 ], [ 0.9555170083390321, 0.29493600454136837 ], [ 0.1648013283653274, -0.9863267826481361 ], [ -0.9785954292445943, -0.20579355155492166 ] ] }, { "task_id": "0000318", "id": "RH20T_cfg4_task_0215_user_0014_scene_0003_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the knife on the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000318/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7772480383992181, 0.6291943156168592 ], [ 0.7866060855577275, 0.6174551531597653 ], [ 0.6723647145159322, -0.7402200285549623 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0000319", "id": "RH20T_cfg5_task_0085_user_0007_scene_0009_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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000319/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.009842798004094723, -0.9999515584904354 ], [ 0.9999999995, 0.0 ], [ -0.9999975567084346, -0.0022105603726782323 ], [ -0.01604376860946703, 0.9998712904613303 ] ] }, { "task_id": "0000320", "id": "RH20T_cfg4_task_0110_user_0007_scene_0002_cfg_0004_104122062823#160", "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 to the outside of the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000320/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.79999999992, 0.59999999994 ], [ 0.669818640434898, 0.7425247396053177 ], [ 0.8243051237203236, -0.5661457966005063 ], [ -0.6036127376963951, -0.797277657338184 ] ] }, { "task_id": "0000321", "id": "RH20T_cfg5_task_0118_user_0007_scene_0006_cfg_0005_104122063678#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'twist the handle of the water tap counterclockwise to turn on the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000321/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0020643895304074053, 0.9999978691456631 ], [ 0.9925858000963736, -0.1215459972481268 ], [ -0.9938837345638627, 0.11043152606265141 ], [ 0.015897577961364123, -0.9998736255222268 ] ] }, { "task_id": "0000322", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'take out the first block from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000322/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995790595660867, 0.029012129824915172 ], [ -0.11406111874850461, -0.9934737345243907 ], [ 0.09053574603432181, 0.9958932063775399 ], [ -0.9755747936286827, 0.21966752613063492 ] ] }, { "task_id": "0000323", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#200", "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 first block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000323/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9910435391317989, 0.133539146114983 ], [ 0.20838579248376907, -0.9780467072133681 ], [ -0.11043152606874898, 0.9938837346187408 ], [ -0.9999863279498885, -0.005229140780085014 ] ] }, { "task_id": "0000324", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#293", "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 second block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000324/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.93632917751425, 0.35112344156784375 ], [ 0.474279958811655, -0.8803740799623844 ], [ -0.9503032010087122, -0.311325916288052 ], [ -0.21953551056659631, 0.9756045098298101 ] ] }, { "task_id": "0000325", "id": "RH20T_cfg6_task_0044_user_0020_scene_0001_cfg_0006_104122064161#68", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000325/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9374541719082243, -0.3481087122895167 ], [ -0.2857998982197966, -0.958289318618106 ], [ -0.9299620415058228, 0.36765554716109256 ] ] }, { "task_id": "0000326", "id": "RH20T_cfg6_task_0209_user_0014_scene_0003_cfg_0006_104122064161#71", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the kitchen knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000326/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6798725723475232, -0.7333302703213347 ], [ -0.7268290456846022, -0.686818417304902 ], [ 0.6643638387747474, 0.7474093186215908 ], [ -0.7763472894391047, 0.6303053912037838 ] ] }, { "task_id": "0000328", "id": "RH20T_cfg4_task_0022_user_0016_scene_0002_cfg_0004_104122062823#85", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000328/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.028206345906065813, -0.9996021218718113 ], [ -0.9933258531135972, -0.1153418811019846 ], [ -0.2135901019566653, 0.976923368717394 ], [ 0.9863939236699816, 0.16439898727833027 ] ] }, { "task_id": "0000330", "id": "RH20T_cfg3_task_0021_user_0011_scene_0007_cfg_0003_104122062823#152", "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 light'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000330/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832979505138, 0.3162277659835046 ], [ 0.3699299754630894, 0.9290596392341441 ], [ 0.9437159777603865, -0.33075693994194266 ], [ -0.45143855996385596, -0.8923022058572757 ] ] }, { "task_id": "0000331", "id": "RH20T_cfg3_task_0085_user_0010_scene_0001_cfg_0003_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the bubble ring from the assembled bubble ring and ball and place the bubble ring to one side of the table', and now you are performing subtask 'pick up the bubble ring from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000331/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.968162720070258, 0.2503216879660235 ], [ -0.3939192985274435, 0.9191450298973682 ], [ 0.38471808221062764, -0.923034125707266 ], [ -0.8912862010699076, -0.45344118447972087 ] ] }, { "task_id": "0000332", "id": "RH20T_cfg3_task_0054_user_0010_scene_0004_cfg_0003_104122062823#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the block on the shovel', and now you are performing subtask 'pick up the block on the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000332/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9805169866259179, -0.1964343120181136 ], [ -0.23275360858433305, -0.9725357359454567 ], [ -0.9786269031348382, 0.20564382913356757 ], [ 0.09632419485709755, 0.9953500135233414 ] ] }, { "task_id": "0000333", "id": "RH20T_cfg2_task_0001_user_0003_scene_0010_cfg_0002_104122061850#206", "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 cloth from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000333/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.000598821426481398, 0.9999998207064336 ], [ -0.9999999995, 0.0 ], [ 0.9958422987257756, -0.09109399578766535 ], [ 0.03506148757867412, -0.9993851570284454 ] ] }, { "task_id": "0000334", "id": "RH20T_cfg4_task_0110_user_0007_scene_0004_cfg_0004_104122062823#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the pencil out from the pencil sharpener', and now you are performing subtask 'pick up the pencil from the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000334/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9438161596371454, 0.33047096212495075 ], [ 0.3066153492490039, -0.9518335083431931 ], [ -0.35897907928309586, 0.9333456061360492 ], [ -0.9108845858181254, -0.41266120646232585 ] ] }, { "task_id": "0000335", "id": "RH20T_cfg4_task_0047_user_0014_scene_0008_cfg_0004_104122062823#131", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000335/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05049569826807982, 0.998724278495531 ], [ 0.9983767497558012, 0.056954943130886164 ], [ -0.12919898820811554, -0.991618687523586 ], [ -0.99999999975, 0.0 ] ] }, { "task_id": "0000336", "id": "RH20T_cfg4_task_0119_user_0007_scene_0001_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the faucet handle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000336/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.004474691570137915, -0.9999899885175613 ], [ -0.9889652261183824, -0.14814783673282886 ], [ 0.9999999989999999, 0.0 ], [ 0.00848416275230581, 0.9999640088435146 ] ] }, { "task_id": "0000337", "id": "RH20T_cfg4_task_0028_user_0016_scene_0002_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000337/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.8976574031171677, 0.4406939829733812 ], [ 0.22593548581401068, -0.9741422669456382 ], [ -0.8991924935581116, -0.43755326479040874 ] ] }, { "task_id": "0000338", "id": "RH20T_cfg4_task_0020_user_0014_scene_0002_cfg_0004_038522062288#102", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000338/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6507913733853803, -0.7592566022829437 ], [ -0.7102159785523935, 0.7039838519517804 ], [ 0.5434807465519056, 0.839421633106619 ], [ 0.6903073196199787, -0.7235162779641385 ] ] }, { "task_id": "0000339", "id": "RH20T_cfg4_task_0065_user_0010_scene_0002_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'pick up the small Lego block from the left side area of the base plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000339/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776596683794, 0.9486832979005138 ], [ 0.9101720537792104, -0.4142304099403304 ], [ -0.23952608110608098, -0.9708899301516949 ], [ -0.8900433575444192, 0.4558758840858522 ] ] }, { "task_id": "0000340", "id": "RH20T_cfg4_task_0065_user_0010_scene_0002_cfg_0004_104122062823#290", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'place the small Lego block on the base plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000340/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6804995452986519, -0.7327485031361908 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7492647348634186, -0.6622706071463923 ], [ -0.7595438891892061, 0.6504560556988728 ] ] }, { "task_id": "0000341", "id": "RH20T_cfg5_task_0014_user_0007_scene_0004_cfg_0005_104122063678#262", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000341/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8085577608430182, 0.5884168143251216 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7042927977644494, -0.7099096104555315 ], [ -0.6216555013398214, -0.7832907746513649 ] ] }, { "task_id": "0000342", "id": "RH20T_cfg4_task_0010_user_0016_scene_0005_cfg_0004_104122062823#112", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000342/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9943988622567667, 0.10569249141943832 ], [ 0.19032635604801337, -0.9817208759079563 ], [ -0.9955341820718592, -0.09440176018758595 ], [ -0.2425356250216271, 0.9701425000865084 ] ] }, { "task_id": "0000343", "id": "RH20T_cfg4_task_0062_user_0007_scene_0001_cfg_0004_104122062823#139", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000343/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5891113976025053, -0.8080518307725211 ], [ 0.7071067810615475, 0.7071067810615475 ], [ -0.7282541670906025, -0.68530713414875 ], [ -0.7825894876348672, 0.6225381063383959 ] ] }, { "task_id": "0000344", "id": "RH20T_cfg5_task_0001_user_0020_scene_0008_cfg_0005_104122063678#195", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000344/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970870388524858, 0.07627212434685034 ], [ -0.12038824098652398, -0.9927268866270172 ], [ -0.9990934262325981, -0.04257141833211544 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0000345", "id": "RH20T_cfg4_task_0101_user_0014_scene_0004_cfg_0004_104122062823#96", "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 the left 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000345/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5070201265376869, 0.8619342151140676 ], [ 0.8580195172687064, 0.5136170830355782 ], [ 0.4470191324317659, -0.8945243961122309 ], [ -0.7907876941707284, -0.6120905347643784 ] ] }, { "task_id": "0000346", "id": "RH20T_cfg5_task_0062_user_0007_scene_0007_cfg_0005_104122063678#235", "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 off 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000346/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.37139067631962097, 0.9284766907990525 ], [ 0.9660449877098076, 0.25837391842203733 ], [ 0.5018481004165384, -0.8649557700300704 ], [ -0.8691987994832937, -0.4944627862405834 ] ] }, { "task_id": "0000347", "id": "RH20T_cfg3_task_0021_user_0010_scene_0004_cfg_0003_104122062823#95", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000347/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7352653997349705, 0.6777793091800413 ], [ 0.482301024486994, -0.8760055489429254 ], [ -0.8894678629201592, -0.456997725193731 ], [ -0.5734623443398384, 0.8192319204854834 ] ] }, { "task_id": "0000348", "id": "RH20T_cfg4_task_0108_user_0015_scene_0004_cfg_0004_104122062823#151", "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 pencil sharpener knob clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000348/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6266081317714985, -0.779334491215314 ], [ 0.7808688093210792, 0.6246950474568633 ], [ -0.6736200107770272, -0.7390778586054096 ], [ -0.5926546782933033, 0.8054566607192848 ] ] }, { "task_id": "0000349", "id": "RH20T_cfg3_task_0048_user_0010_scene_0002_cfg_0003_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000349/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1514034517660621, 0.9884720505878363 ], [ 0.9592452322586649, -0.2825749181881154 ], [ -0.2983435281642434, -0.9544585581378121 ], [ -0.9883716975754727, 0.1520571842423804 ] ] }, { "task_id": "0000350", "id": "RH20T_cfg3_task_0005_user_0016_scene_0002_cfg_0003_104122062823#204", "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 square'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000350/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6713329571397029, -0.7411558949762607 ], [ -0.8519101063978762, -0.5236880470443822 ], [ -0.6600769017229157, 0.7511980323535709 ], [ 0.8192319204854834, 0.5734623443398384 ] ] }, { "task_id": "0000351", "id": "RH20T_cfg6_task_0080_user_0020_scene_0001_cfg_0006_104122064161#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'flip the paper over to the other side', and now you are performing subtask 'flip the paper to the other side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000351/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9905910533997081, -0.13685526999153758 ], [ -0.1449910544364203, -0.989432965962533 ], [ 0.0, 0.9999999989999999 ], [ -0.9977244306039648, 0.06742373896480562 ] ] }, { "task_id": "0000352", "id": "RH20T_cfg5_task_0045_user_0010_scene_0005_cfg_0005_104122063678#307", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000352/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999899541954554, 0.004482355203592656 ], [ 0.11735682571664827, -0.993089812382401 ], [ 0.0, 0.9999999989999999 ], [ -0.9997257287906293, -0.023419376465768988 ] ] }, { "task_id": "0000353", "id": "RH20T_cfg4_task_0128_user_0007_scene_0009_cfg_0004_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the usb drive to the docking station', and now you are performing subtask 'pick up the USB drive from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000353/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6902270697866001, 0.7235928358778879 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.7665864730470161, 0.6421410899026293 ], [ 0.6323886542577054, -0.7746512699054513 ] ] }, { "task_id": "0000354", "id": "RH20T_cfg6_task_0119_user_0020_scene_0002_cfg_0006_104122064161#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the handle of the water tap clockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000354/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5910668001671205, -0.8066226117213683 ], [ 0.7682212794990152, 0.6401843995825127 ], [ -0.851313223281309, -0.5246577892935435 ], [ -0.6094751625371873, 0.792805162855458 ] ] }, { "task_id": "0000355", "id": "RH20T_cfg4_task_0105_user_0015_scene_0001_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000355/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3596150899601799, 0.9331007379018258 ], [ 0.9892971520920167, 0.1459148548387905 ], [ 0.13474235615546679, -0.9908806676172834 ], [ -0.9701424999100378, -0.24253562497750944 ] ] }, { "task_id": "0000356", "id": "RH20T_cfg3_task_0075_user_0010_scene_0010_cfg_0003_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the white piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000356/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998113269645355, -0.019424481290756045 ], [ -0.239703582022731, -0.9708461220839644 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.98799965939192, 0.15445605537320373 ] ] }, { "task_id": "0000357", "id": "RH20T_cfg4_task_0064_user_0015_scene_0003_cfg_0004_104122062823#162", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000357/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8738979319722249, -0.4861094573186874 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.43812147486013236, -0.898915776514342 ], [ -0.8347926779708377, 0.5505644238472708 ] ] }, { "task_id": "0000358", "id": "RH20T_cfg6_task_0004_user_0020_scene_0003_cfg_0006_104122064161#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block on the side of the table', and now you are performing subtask 'pick up the block 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000358/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9028880425431957, 0.42987577581496333 ], [ 0.491969747770318, -0.8706122944679852 ], [ -0.3713906762851382, 0.9284766907128456 ], [ -0.9721932806509309, -0.23417989891786256 ] ] }, { "task_id": "0000359", "id": "RH20T_cfg3_task_0054_user_0010_scene_0008_cfg_0003_104122062823#192", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the small ball in the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000359/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8601440570478157, -0.5100511750063162 ], [ -0.5178248148633761, 0.8554866808499769 ], [ 0.554700196071383, -0.8320502941070744 ], [ 0.9012744272157891, 0.4332486662955253 ] ] }, { "task_id": "0000360", "id": "RH20T_cfg3_task_0062_user_0010_scene_0005_cfg_0003_104122062823#410", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000360/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998888889 ], [ 0.9882308149630193, -0.1529701158969512 ], [ -0.053179344698128135, -0.9985849775044073 ], [ -0.9999080021484509, 0.013564189599586825 ] ] }, { "task_id": "0000361", "id": "RH20T_cfg2_task_0046_user_0007_scene_0010_cfg_0002_037522062165#305", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000361/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7808688093210792, 0.6246950474568633 ], [ 0.5887501761672704, -0.8083150561897311 ], [ -0.7412748050822185, -0.6712016562481941 ], [ -0.5836196527573833, 0.8120271552819841 ] ] }, { "task_id": "0000362", "id": "RH20T_cfg6_task_0043_user_0014_scene_0002_cfg_0006_104122064161#158", "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 of the jar counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000362/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9460635391072442, -0.3239811413830686 ], [ -0.5469846604546491, -0.8371426289631368 ], [ -0.922509872682722, 0.38597348976698936 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000363", "id": "RH20T_cfg5_task_0046_user_0010_scene_0006_cfg_0005_104122063678#772", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000363/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6527634042243535, 0.7575618378095832 ], [ 0.7766450370260914, -0.6299384783157329 ], [ -0.7622115102586438, -0.6473280571929796 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000364", "id": "RH20T_cfg2_task_0008_user_0002_scene_0008_cfg_0002_104122061850#383", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on top of the black circle', 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000364/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7867717904824428, 0.6172439952733856 ], [ 0.7393901860030757, 0.6732771738610608 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6281427544738947, -0.7780981172075592 ] ] }, { "task_id": "0000365", "id": "RH20T_cfg3_task_0017_user_0011_scene_0006_cfg_0003_104122062823#169", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000365/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8946973527478209, 0.44667286349860275 ], [ 0.42624904056207924, -0.9046058563926651 ], [ -0.4472135954499579, 0.8944271908999158 ], [ -0.9479498773139469, -0.3184195818420614 ] ] }, { "task_id": "0000366", "id": "RH20T_cfg4_task_0011_user_0016_scene_0010_cfg_0004_104122062823#84", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000366/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7808688093210792, 0.6246950474568633 ], [ 0.686082792721882, 0.7275234714639406 ], [ 0.717493308615772, -0.6965653968520059 ], [ -0.5367722122679941, -0.8437272024398192 ] ] }, { "task_id": "0000367", "id": "RH20T_cfg6_task_0044_user_0020_scene_0007_cfg_0006_104122064161#136", "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 things in the bag 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000367/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998333333 ], [ 0.9993394036839471, -0.036342210232909344 ], [ -0.07031280125368089, -0.9975249921580214 ], [ -0.9999979563574022, -0.002021702505121939 ] ] }, { "task_id": "0000368", "id": "RH20T_cfg4_task_0101_user_0014_scene_0008_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the pinkish-white cloth from the left side of the table to the center to wipe the table', and now you are performing subtask 'pick up the pink and white cloth from the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000368/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3110030733884927, 0.9504089058625829 ], [ -0.9785497849363511, 0.2060104810392318 ], [ 0.9582243261027721, -0.28601772823531146 ], [ -0.19221579024927865, -0.9813526837884765 ] ] }, { "task_id": "0000369", "id": "RH20T_cfg4_task_0033_user_0016_scene_0007_cfg_0004_104122062823#102", "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 'pick up the large block from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000369/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31176455844916445, 0.9501593866794126 ], [ -0.9863939236699816, 0.16439898727833027 ], [ 0.967606709411393, -0.25246238512312325 ], [ -0.14859086397873197, -0.9888987587928575 ] ] }, { "task_id": "0000370", "id": "RH20T_cfg3_task_0070_user_0010_scene_0003_cfg_0003_104122062823#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to the open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000370/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562497750944, -0.9701424999100378 ], [ -0.9557641116701401, 0.2941342598939947 ], [ 0.24244637800000338, 0.9701648075428625 ], [ 0.9698786974577542, -0.2435884073958569 ] ] }, { "task_id": "0000371", "id": "RH20T_cfg4_task_0124_user_0010_scene_0001_cfg_0004_104122062823#86", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the lever to the horizontal position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000371/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.00481907820513805, -0.9999883881752091 ], [ -0.9837487317713774, 0.17955064115231267 ], [ 0.04922556176716361, 0.9987876871831707 ], [ 0.9938837345638627, -0.11043152606265141 ] ] }, { "task_id": "0000372", "id": "RH20T_cfg2_task_0008_user_0013_scene_0001_cfg_0002_105422061350#350", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000372/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9204374125350189, 0.3908899712269933 ], [ 0.39303778952611784, -0.919522319470508 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9084998401350951, -0.41788520011422603 ] ] }, { "task_id": "0000373", "id": "RH20T_cfg4_task_0009_user_0010_scene_0001_cfg_0004_104122062823#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a Hanoi block and throw it onto the table', and now you are performing subtask 'pick up the hanoi block from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000373/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7831252067590652, 0.6218640611408344 ], [ 0.7564222522374968, -0.6540836156944713 ], [ -0.6282686714334776, -0.777996450181627 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0000374", "id": "RH20T_cfg2_task_0001_user_0007_scene_0009_cfg_0002_037522062165#331", "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 red button on the table 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000374/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.963159598406398, -0.26893045197155757 ], [ -0.12530375261451432, 0.992118425179535 ], [ 0.16439898727833027, -0.9863939236699816 ], [ 0.9794553776847978, 0.20166101042177226 ] ] }, { "task_id": "0000375", "id": "RH20T_cfg2_task_0091_user_0007_scene_0005_cfg_0002_037522062165#796", "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 small box from the pink 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000375/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9314536860801054, -0.36385990530392964 ], [ -0.5740785711347249, -0.8188002162700695 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.94666367814559, 0.32222333943999604 ] ] }, { "task_id": "0000376", "id": "RH20T_cfg3_task_0013_user_0011_scene_0001_cfg_0003_104422070011#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the blocks from the table to 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000376/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5812381936515288, -0.8137334711121403 ], [ -0.7341732648410794, 0.6789621618268505 ], [ 0.5630744854936688, 0.8264061494120433 ], [ 0.7296398394002366, -0.6838316348049401 ] ] }, { "task_id": "0000377", "id": "RH20T_cfg3_task_0062_user_0010_scene_0003_cfg_0003_104122062823#285", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000377/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9610437196719152, -0.2763963980936972 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.2695348141280525, -0.9629906458387621 ], [ -0.956025906102538, 0.29328223072805004 ] ] }, { "task_id": "0000379", "id": "RH20T_cfg3_task_0046_user_0010_scene_0004_cfg_0003_104122062823#725", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000379/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.47486099605624726, 0.8800608129126468 ], [ 0.784073211476025, -0.6206683486739698 ], [ -0.575148148449496, -0.8180492695034429 ], [ -0.868243142070613, 0.49613893832606465 ] ] }, { "task_id": "0000380", "id": "RH20T_cfg3_task_0015_user_0011_scene_0010_cfg_0003_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the stick on the drum'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000380/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8934243399348079, 0.4492137006059063 ], [ -0.5812381936853126, 0.8137334711594377 ], [ 0.5618217913218991, -0.8272582878375123 ], [ -0.7860637107862526, -0.6181454865846282 ] ] }, { "task_id": "0000381", "id": "RH20T_cfg3_task_0044_user_0010_scene_0002_cfg_0003_104122062823#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the bag to the right', and now you are performing subtask 'pick up the bag on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000381/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9427315100703538, -0.33355254446709076 ], [ -0.28693499524006955, 0.9579500553299118 ], [ 0.19611613511895326, -0.9805806755947664 ], [ 0.9988621399382791, 0.047690936224000904 ] ] }, { "task_id": "0000382", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#117", "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 first block from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000382/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.977349103517994, -0.21163347998975368 ], [ -0.451236564626307, -0.8924043717644197 ], [ -0.880821882535114, 0.4734477914694482 ], [ 0.3417430630575073, 0.939793423408145 ] ] }, { "task_id": "0000383", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#247", "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 first 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000383/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.99999999975 ], [ -0.9914547962676671, -0.1304507070039819 ], [ -0.1359818524367974, 0.9907113281919497 ], [ 0.9926077105813776, 0.12136693493038421 ] ] }, { "task_id": "0000384", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#399", "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 second block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000384/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8252630492388978, -0.5647485277191225 ], [ 0.5299989399470002, 0.8479983039152004 ], [ -0.6442387416574361, -0.7648244528959854 ], [ -0.9060980366249918, 0.42306778183210203 ] ] }, { "task_id": "0000385", "id": "RH20T_cfg7_task_0047_user_0014_scene_0002_cfg_0007_104122064161#145", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000385/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9005607185134854, -0.43473025230650203 ], [ -0.416318092883189, 0.9092190305631006 ], [ 0.3846153845857988, -0.9230769230059171 ], [ 0.8852250082589841, 0.4651630732903049 ] ] }, { "task_id": "0000386", "id": "RH20T_cfg4_task_0128_user_0010_scene_0007_cfg_0004_104122062823#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000386/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9494220185494956, 0.31400291510334954 ], [ 0.4048489475220945, -0.914383579079509 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9417067015579944, -0.3364349688138294 ] ] }, { "task_id": "0000387", "id": "RH20T_cfg2_task_0008_user_0013_scene_0007_cfg_0002_105422061350#225", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000387/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953889398035606, -0.09592110568974768 ], [ -0.034415306697380264, -0.9994076178741711 ], [ -0.9910417124245833, 0.1335527020862916 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0000388", "id": "RH20T_cfg3_task_0018_user_0011_scene_0005_cfg_0003_104122062823#193", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the top block of the block tower'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000388/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9617857014126344, 0.2738033318975627 ], [ 0.4680667080820518, -0.8836931349655441 ], [ -0.9416665724427243, -0.3365472720792303 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0000389", "id": "RH20T_cfg2_task_0002_user_0007_scene_0010_cfg_0002_037522062165#222", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the paper in the container'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000389/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9991954825196867, 0.04010470935252468 ], [ 0.15554933117286726, -0.9878281255216789 ], [ -0.9920964905249716, 0.1254773026807442 ] ] }, { "task_id": "0000391", "id": "RH20T_cfg6_task_0091_user_0020_scene_0010_cfg_0006_104122064161#113", "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 cube in the blue 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000391/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9766178623093433, 0.21498267608886204 ], [ 0.23108338745699364, -0.9729339484473758 ], [ -0.1961161350997225, 0.9805806754986125 ], [ -0.989195066868443, -0.14660531942305677 ] ] }, { "task_id": "0000392", "id": "RH20T_cfg3_task_0001_user_0016_scene_0004_cfg_0003_104122062823#275", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000392/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4244558248304576, -0.9054486472282656 ], [ -0.8927942248158772, -0.4504647290692323 ], [ -0.30452439873198334, 0.9525045357251187 ], [ 0.9028605187851132, 0.4299335803738635 ] ] }, { "task_id": "0000393", "id": "RH20T_cfg6_task_0014_user_0014_scene_0009_cfg_0006_104122064161#58", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000393/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9761678562825759, -0.21701685731915005 ], [ -0.27391534372970083, -0.9617538065791265 ], [ -0.9079911622247715, 0.4189893188635108 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000394", "id": "RH20T_cfg2_task_0054_user_0007_scene_0012_cfg_0002_105422061350#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the toy on the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000394/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9103664773872623, -0.41380294426693737 ], [ -0.3647921054632694, 0.9310889967085182 ], [ 0.8751179371587425, 0.4839096982527083 ], [ 0.509061894693021, -0.8607299154621917 ] ] }, { "task_id": "0000395", "id": "RH20T_cfg3_task_0073_user_0010_scene_0006_cfg_0003_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move things to the drawer', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000395/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6401843995825127, 0.7682212794990152 ], [ 0.7439571019865722, 0.6682273792682706 ], [ 0.6401883325311559, -0.768218002191421 ], [ -0.7488717088600191, -0.6627149942992651 ] ] }, { "task_id": "0000396", "id": "RH20T_cfg5_task_0046_user_0010_scene_0008_cfg_0005_104122063678#339", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000396/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9954120363497344, -0.09568112609117345 ], [ -0.12405847571371002, -0.9922749087846527 ], [ -0.9991020608970628, -0.04236828898176088 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0000398", "id": "RH20T_cfg6_task_0079_user_0014_scene_0009_cfg_0006_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000398/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.22155648331471828, 0.97514753996573 ], [ 0.9766016286275754, -0.21505640879073423 ], [ -0.9805806754986125, 0.1961161350997225 ], [ -0.19648395615936998, -0.9805070397360556 ] ] }, { "task_id": "0000399", "id": "RH20T_cfg4_task_0101_user_0007_scene_0007_cfg_0004_104122062823#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000399/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6446275254679283, -0.7644967975139565 ], [ -0.7487146122970036, -0.6628924719235748 ], [ -0.6312407176396128, 0.775586975389496 ], [ 0.672672793973688, 0.7399400733710568 ] ] }, { "task_id": "0000400", "id": "RH20T_cfg5_task_0047_user_0007_scene_0003_cfg_0005_104122063678#203", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000400/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.007699493636619057, 0.9999703584595594 ], [ 0.9950402075265502, 0.0994735412334362 ], [ -0.99999999975, 0.0 ], [ 0.016503683050673, -0.9998638049483354 ] ] }, { "task_id": "0000401", "id": "RH20T_cfg6_task_0022_user_0014_scene_0002_cfg_0006_104122064161#50", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000401/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9006146051775498, -0.434618606298541 ], [ -0.4432049188996154, 0.896420325440686 ], [ 0.3939192985274435, -0.9191450298973682 ], [ 0.934067183605727, 0.3570973207836558 ] ] }, { "task_id": "0000402", "id": "RH20T_cfg7_task_0015_user_0014_scene_0006_cfg_0007_104122064161#92", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000402/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7952287171122406, -0.6063095640677458 ], [ -0.5806374835510842, -0.8141622152221659 ], [ -0.7570373834494907, 0.6533715635531966 ], [ 0.6357072528322338, 0.7719302355819981 ] ] }, { "task_id": "0000403", "id": "RH20T_cfg3_task_0028_user_0010_scene_0007_cfg_0003_104122062823#231", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the front towards the closed position to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000403/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7126689364376592, 0.7015005253289662 ], [ -0.59999999988, 0.79999999984 ], [ 0.7023377305646507, -0.7118438819188491 ], [ -0.8561449272007821, -0.5167357773837299 ] ] }, { "task_id": "0000404", "id": "RH20T_cfg3_task_0013_user_0011_scene_0010_cfg_0003_104122062823#180", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000404/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9967056339350832, -0.0811041261716324 ], [ -0.002174777569621992, -0.9999976351684652 ], [ -0.9985472447998113, 0.05388320612868003 ], [ 0.12403473458408026, 0.9922778766726421 ] ] }, { "task_id": "0000405", "id": "RH20T_cfg6_task_0062_user_0007_scene_0002_cfg_0006_104122063633#326", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000405/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999996666666, 0.0 ], [ 0.08328985023780766, 0.9965253638755833 ], [ 0.9910190171762403, 0.13372100655857597 ], [ 0.1462479327124116, -0.9892479679925281 ] ] }, { "task_id": "0000406", "id": "RH20T_cfg4_task_0020_user_0016_scene_0004_cfg_0004_104122062823#109", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000406/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6564979524736664, 0.7543278056640121 ], [ 0.8272780194908819, -0.5617927362179438 ], [ -0.6689871932975525, -0.743273930125269 ], [ -0.7474093186215908, 0.6643638387747474 ] ] }, { "task_id": "0000407", "id": "RH20T_cfg5_task_0090_user_0007_scene_0010_cfg_0005_104122063678#214", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pushing the block', and now you are performing subtask 'push the block slightly to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000407/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9876359680663551, -0.15676477468370828 ], [ -0.07279999387771784, -0.9973465600739817 ], [ -0.9922369700128101, 0.12436155089012871 ], [ 0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0000408", "id": "RH20T_cfg7_task_0035_user_0020_scene_0001_cfg_0007_104122064161#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'transfer a small block from the surface to the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000408/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.9418261307215696, -0.3361004901663147 ], [ -0.5453474137698742, -0.838210115838809 ], [ -0.9243541694737331, 0.38153554143293794 ] ] }, { "task_id": "0000409", "id": "RH20T_cfg1_task_0012_user_0001_scene_0010_cfg_0001_819112070044#222", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000409/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.02017870002204032, -0.9997963893040526 ], [ 0.9999999995, 0.0 ], [ -0.9973391851986714, -0.07290095793095246 ], [ 0.12318199028770536, 0.9923840976500781 ] ] }, { "task_id": "0000410", "id": "RH20T_cfg3_task_0016_user_0010_scene_0010_cfg_0003_104122062823#213", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000410/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8796398245032777, 0.4756403884741524 ], [ 0.44345875413369606, -0.896294780405526 ], [ -0.400818833996757, 0.9161573348497302 ], [ -0.8931207286897245, -0.44981703389793454 ] ] }, { "task_id": "0000411", "id": "RH20T_cfg3_task_0016_user_0010_scene_0010_cfg_0003_104122062823#499", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'strike the pool ball with the pool cue'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000411/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7906029174039536, 0.6123291818885961 ], [ -0.7071067811032142, 0.7071067811032142 ], [ 0.7962663496311563, -0.6049461963225102 ], [ -0.6668873184514852, -0.7451585767396008 ] ] }, { "task_id": "0000412", "id": "RH20T_cfg5_task_0122_user_0007_scene_0001_cfg_0005_104122063678#242", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000412/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5748482432406691, 0.8182600425556148 ], [ 0.8438635843248333, -0.5365577797874568 ], [ -0.491568761508968, -0.8708387638986561 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0000413", "id": "RH20T_cfg4_task_0090_user_0014_scene_0001_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object', and now you are performing subtask 'transfer the wooden block from near the green table to the green 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000413/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9618110008137299, -0.2737144473967189 ], [ 0.34780682295326326, 0.9375662183957532 ], [ -0.22119014833269457, -0.9752307000297727 ], [ -0.8970228392157412, 0.44198419194053834 ] ] }, { "task_id": "0000415", "id": "RH20T_cfg2_task_0015_user_0006_scene_0010_cfg_0002_037522062165#219", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000415/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7878919573868388, -0.6158134973229605 ], [ -0.6451264303391968, -0.7640758397422375 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6818934107682603, 0.731451554343026 ] ] }, { "task_id": "0000416", "id": "RH20T_cfg3_task_0084_user_0010_scene_0008_cfg_0003_038522062288#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000416/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ -0.08544317820374195, 0.9963430449892465 ], [ 0.9990215225269523, 0.044226660827266936 ], [ 0.12753942716385325, -0.9918335014097458 ] ] }, { "task_id": "0000417", "id": "RH20T_cfg4_task_0069_user_0015_scene_0010_cfg_0004_104122062823#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble a puzzle', and now you are performing subtask 'pick up a puzzle piece from the left side of the puzzle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000417/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11505314519250077, -0.993359337692717 ], [ -0.9963151933199323, -0.08576733387406772 ], [ 0.9999999989999999, 0.0 ], [ 0.1293911118571863, 0.9915936366134875 ] ] }, { "task_id": "0000418", "id": "RH20T_cfg7_task_0052_user_0014_scene_0001_cfg_0007_104122064161#72", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000418/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5943910610630234, 0.8041761414382081 ], [ 0.8824697847202893, -0.4703690881166898 ], [ -0.49972866878097966, -0.8661820002738396 ], [ -0.8473678858232876, 0.531006276870031 ] ] }, { "task_id": "0000419", "id": "RH20T_cfg4_task_0045_user_0014_scene_0002_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the brush on the table', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000419/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9820944742569704, 0.1883890751448317 ], [ 0.4219828719527267, -0.9066038030907043 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.917876055219987, -0.39686716575422964 ] ] }, { "task_id": "0000420", "id": "RH20T_cfg2_task_0004_user_0006_scene_0009_cfg_0002_037522062165#223", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000420/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.994022137103995, -0.10917871105305559 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.3115527142455994, -0.9502288704550078 ], [ -0.9946329631895925, 0.1034662676271395 ] ] }, { "task_id": "0000422", "id": "RH20T_cfg6_task_0128_user_0014_scene_0010_cfg_0006_104122064161#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB cable to the docking station', and now you are performing subtask 'pick up the USB cable from the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000422/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3206895208191211, -0.9471843702452034 ], [ -0.8805858988885034, -0.4738865630915552 ], [ 0.9153150323892536, 0.40273861425127155 ], [ -0.2817314940837325, 0.9594932856676736 ] ] }, { "task_id": "0000423", "id": "RH20T_cfg5_task_0004_user_0010_scene_0006_cfg_0005_104122063678#406", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000423/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.7629346946552235, 0.646475561557698 ], [ 0.7216766882335026, -0.6922302779135885 ], [ -0.700286427854449, -0.7138619747282073 ] ] }, { "task_id": "0000424", "id": "RH20T_cfg1_task_0006_user_0004_scene_0001_cfg_0001_039422060546#177", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000424/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9904714330784109, 0.13771833667162497 ], [ 0.09002265685909794, -0.9959397176797545 ], [ -0.9900950256423343, -0.14039886110045735 ], [ 0.0, 0.9999999998333333 ] ] }, { "task_id": "0000425", "id": "RH20T_cfg3_task_0023_user_0010_scene_0008_cfg_0003_104122062823#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the power strip', and now you are performing subtask 'press the button on the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000425/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.266228374275724, 0.9639099816531131 ], [ -0.9852117547774726, 0.17134117474390828 ], [ 0.9746539331990167, -0.223717926192084 ], [ -0.3096486840417808, -0.9508510358995217 ] ] }, { "task_id": "0000426", "id": "RH20T_cfg3_task_0064_user_0010_scene_0003_cfg_0003_104122062823#299", "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 'pull the roll of paper above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000426/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ 0.14864533672814303, 0.9888905722419327 ], [ 0.9965357174467228, 0.08316588154372916 ], [ 0.08572375073926183, -0.9963189441936718 ] ] }, { "task_id": "0000427", "id": "RH20T_cfg7_task_0013_user_0014_scene_0007_cfg_0007_104122064161#82", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000427/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9952892680312678, -0.09694984755936004 ], [ 0.0, 0.9999999995 ], [ -0.022516965919060772, -0.9997464609818831 ], [ -0.995272011080674, -0.09712684468997676 ] ] }, { "task_id": "0000428", "id": "RH20T_cfg6_task_0067_user_0014_scene_0002_cfg_0006_104122064161#129", "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 a button from top to bottom with obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000428/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5998909559255816, 0.8000817714450766 ], [ 0.8438670830826863, 0.536552277126394 ], [ -0.8454889029933473, -0.5339929913642194 ], [ 0.4650174008894931, -0.8853015400811073 ] ] }, { "task_id": "0000430", "id": "RH20T_cfg4_task_0125_user_0010_scene_0004_cfg_0004_104122062823#218", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever on the machine'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000430/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7956582622515834, -0.6057457632627656 ], [ -0.7460338342153326, -0.665908040352397 ], [ -0.6902934161908616, 0.7235295429791033 ], [ 0.6401843996234963, 0.7682212795481955 ] ] }, { "task_id": "0000431", "id": "RH20T_cfg4_task_0013_user_0007_scene_0003_cfg_0004_104122062823#117", "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 jar 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000431/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28734788553882246, 0.9578262851294083 ], [ 0.9051037535433991, -0.4251907752076118 ], [ -0.24071298779062084, -0.9705963411784079 ], [ -0.9092779154231992, 0.4161894670983895 ] ] }, { "task_id": "0000432", "id": "RH20T_cfg6_task_0033_user_0014_scene_0007_cfg_0006_104122064161#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the blocks from the right side of the cardboard to the left side', and now you are performing subtask 'slide the block from the right side of the cardboard to the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000432/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9533094009310049, -0.30199534118354987 ], [ -0.17746879175726882, -0.9841264288455093 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9837011140504879, 0.17981134062074344 ] ] }, { "task_id": "0000433", "id": "RH20T_cfg1_task_0020_user_0001_scene_0008_cfg_0001_039422060546#294", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000433/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.13060273059639527, 0.9914347818998309 ], [ -0.9999999989999999, 0.0 ], [ 0.9999526323379142, -0.00973309203060515 ], [ 0.046764801818082534, -0.9989059281588609 ] ] }, { "task_id": "0000434", "id": "RH20T_cfg2_task_0012_user_0006_scene_0009_cfg_0002_037522062165#269", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000434/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3939192985274435, 0.9191450298973682 ], [ 0.884613560831846, 0.4663248309841565 ], [ 0.42308524855903973, -0.9060898810006299 ], [ -0.9691201749787004, -0.24658890171549314 ] ] }, { "task_id": "0000435", "id": "RH20T_cfg4_task_0082_user_0015_scene_0008_cfg_0004_104122062823#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the large spoon into the white bowl', and now you are performing subtask 'pick up the large spoon from the red bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000435/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5783900682167712, -0.8157603379597459 ], [ 0.8882176431287443, 0.45942291885969533 ], [ -0.9429467313943004, -0.3329436314945895 ], [ -0.5879253763947541, 0.808915169712552 ] ] }, { "task_id": "0000436", "id": "RH20T_cfg4_task_0125_user_0007_scene_0001_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever of the clamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000436/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6163082616370087, 0.7875050009806221 ], [ 0.8433405406434935, -0.5373795051052284 ], [ -0.526635876199343, -0.8500909680144533 ], [ -0.864613114448651, 0.5024382174192207 ] ] }, { "task_id": "0000437", "id": "RH20T_cfg3_task_0038_user_0010_scene_0001_cfg_0003_104122062823#138", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000437/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8571579633498, 0.5150536145548568 ], [ 0.5124514565255704, 0.8587161956693384 ], [ 0.856375394369874, -0.5163537391341743 ], [ -0.5144957553392911, -0.8574929255654853 ] ] }, { "task_id": "0000438", "id": "RH20T_cfg4_task_0103_user_0015_scene_0007_cfg_0004_104122062823#132", "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 to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000438/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9898455044990068, 0.1421473785305477 ], [ 0.005316288705758411, -0.999985868437348 ], [ -0.9738751729075916, -0.22708400999235623 ], [ -0.1414213562173095, 0.9899494935211665 ] ] }, { "task_id": "0000439", "id": "RH20T_cfg4_task_0062_user_0007_scene_0009_cfg_0004_104122062823#141", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000439/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973193212339502, -0.07317220437743449 ], [ -0.009757874859337122, -0.9999523908057971 ], [ -0.9909019223863639, -0.13458595844666915 ], [ 0.0, 0.9999999999230769 ] ] }, { "task_id": "0000441", "id": "RH20T_cfg4_task_0014_user_0016_scene_0002_cfg_0004_104122062823#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale and place it on the table', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000441/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810615475, 0.7071067810615475 ], [ 0.6082518733884333, -0.7937440762106267 ], [ -0.7538269937678157, -0.6570729514041631 ], [ -0.7713316439704646, 0.6364334175778489 ] ] }, { "task_id": "0000442", "id": "RH20T_cfg4_task_0085_user_0007_scene_0010_cfg_0004_104122062823#96", "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 'pull the bubble ring from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000442/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9006655053281525, -0.4345131154660167 ], [ -0.33390469545962764, -0.9426068397534645 ], [ 0.4090559040800379, 0.9125093244862383 ], [ -0.9273662556527189, 0.37415481805885664 ] ] }, { "task_id": "0000443", "id": "RH20T_cfg5_task_0123_user_0010_scene_0010_cfg_0005_104122063678#371", "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 left of the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000443/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.018886024248601294, -0.9998216431384557 ], [ -0.9998497037780341, 0.017336950567432362 ], [ -0.06510408855212903, 0.9978784783999486 ] ] }, { "task_id": "0000444", "id": "RH20T_cfg4_task_0119_user_0007_scene_0006_cfg_0004_104122062823#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'push the faucet handle clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000444/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6507913734383215, 0.7592566023447085 ], [ 0.792753357154222, -0.6095425454557792 ], [ -0.6329923390795982, -0.7741580579355478 ], [ -0.789136032519464, 0.6142184645380172 ] ] }, { "task_id": "0000445", "id": "RH20T_cfg6_task_0050_user_0014_scene_0001_cfg_0006_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000445/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.980880645101057, 0.19461027739082612 ], [ 0.11253765342087757, -0.9936474609047832 ], [ -0.9594251715190042, -0.2819633668683386 ], [ -0.1961161350997225, 0.9805806754986125 ] ] }, { "task_id": "0000447", "id": "RH20T_cfg7_task_0014_user_0014_scene_0004_cfg_0007_104122064161#70", "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 cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000447/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.469744244242574, -0.8828025515374165 ], [ -0.8796606133915027, 0.4756019399116085 ], [ 0.808736084243729, -0.5881716976318029 ], [ 0.5737842948136722, 0.8190064609178471 ] ] }, { "task_id": "0000448", "id": "RH20T_cfg3_task_0010_user_0010_scene_0007_cfg_0003_104122062823#220", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000448/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6515055585224756, 0.7586438605922525 ], [ 0.7810254826673999, -0.6244991556632844 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.732740580571395, -0.6805080760607438 ] ] }, { "task_id": "0000449", "id": "RH20T_cfg7_task_0025_user_0020_scene_0006_cfg_0007_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once, with one end weighed down', and now you are performing subtask 'fold a piece of paper 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000449/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.815045198071616, -0.5793973809920099 ], [ -0.49898970350686445, -0.8666079135307568 ], [ -0.7716015135683305, 0.6361062051725809 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0000450", "id": "RH20T_cfg7_task_0002_user_0014_scene_0004_cfg_0007_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the tissue box's tissue'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000450/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6448135729393064, -0.7643398826132559 ], [ -0.6763956131064048, -0.7365385085454873 ], [ -0.7939574141704312, 0.6079733748148864 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000451", "id": "RH20T_cfg7_task_0052_user_0014_scene_0010_cfg_0007_104122064161#93", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000451/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979755138, 0.31622776599183794 ], [ 0.34338657704043235, -0.9391941538938875 ], [ -0.9621338221100992, -0.2725775272318169 ], [ -0.19278757680568392, 0.9812405159946223 ] ] }, { "task_id": "0000453", "id": "RH20T_cfg4_task_0050_user_0014_scene_0001_cfg_0004_104122062823#163", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000453/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990136155403072, -0.14010850710654082 ], [ -0.25873511835081126, -0.9659483104866388 ], [ 0.12403473458151616, 0.9922778766521293 ], [ -0.9626079131179204, 0.27089851532033626 ] ] }, { "task_id": "0000454", "id": "RH20T_cfg2_task_0001_user_0003_scene_0003_cfg_0002_104122061850#195", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the yellow base with the green key', and now you are performing subtask 'press the green button on the yellow base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000454/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.88217292005405, 0.4709256195232011 ], [ -0.5144957553392911, 0.8574929255654853 ], [ 0.5510910456520689, -0.8344451206652894 ], [ -0.8034304502711271, -0.5953986156997124 ] ] }, { "task_id": "0000455", "id": "RH20T_cfg7_task_0033_user_0014_scene_0006_cfg_0007_104122064161#67", "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 on the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000455/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9594148230308365, 0.2819985768558215 ], [ 0.29854820245299757, -0.9543945571995285 ], [ -0.17888543818398317, 0.9838699100119074 ], [ -0.970890203976321, -0.23952497118842914 ] ] }, { "task_id": "0000456", "id": "RH20T_cfg4_task_0083_user_0015_scene_0006_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000456/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9895517674686968, 0.14417801323217905 ], [ 0.09817589182790422, -0.9951690782293205 ], [ -0.9931271401617182, 0.1170405206507852 ] ] }, { "task_id": "0000457", "id": "RH20T_cfg4_task_0096_user_0007_scene_0005_cfg_0004_104122062823#353", "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's handle, open the drawer outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000457/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9623044345553933, 0.27197458564179294 ], [ 0.2277445590704995, 0.9737209126920217 ], [ -0.13216372008228433, -0.9912279006171324 ], [ 0.968934558221673, -0.247317249466695 ] ] }, { "task_id": "0000458", "id": "RH20T_cfg5_task_0005_user_0014_scene_0003_cfg_0005_104122063678#169", "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 'approach the small 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000458/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8111075187011956, 0.5848970790715148 ], [ 0.5655143603416607, 0.824738448386737 ], [ 0.7160406057599361, -0.6980586299895905 ], [ -0.6246950474568633, -0.7808688093210792 ] ] }, { "task_id": "0000459", "id": "RH20T_cfg5_task_0011_user_0010_scene_0004_cfg_0005_104122063678#581", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'after watering the plant, put the kettle on the table', and now you are performing subtask 'pick up the watering can 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000459/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.030025737570060433, 0.9995491258979591 ], [ 0.9982703764455216, -0.05878992695450889 ], [ -0.09760532648410783, -0.9952252007671081 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0000460", "id": "RH20T_cfg3_task_0066_user_0010_scene_0002_cfg_0003_104122062823#60", "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 the large building block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000460/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999994, 0.79999999992 ], [ 0.8628222310424827, 0.5055074654432641 ], [ 0.6979251468546931, -0.7161707124616693 ], [ -0.7620942069552453, -0.6474661533433664 ] ] }, { "task_id": "0000461", "id": "RH20T_cfg1_task_0028_user_0001_scene_0009_cfg_0001_039422060546#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000461/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8103081206386679, 0.5860040525687771 ], [ 0.669998429141157, -0.7423625158562237 ], [ -0.8489205544329947, -0.5285204747795271 ], [ -0.59999999988, 0.79999999984 ] ] }, { "task_id": "0000462", "id": "RH20T_cfg4_task_0217_user_0010_scene_0009_cfg_0004_104122062823#109", "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 on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000462/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8716891276463516, -0.4900592461561588 ], [ 0.59999999988, 0.79999999984 ], [ -0.6919583939846143, -0.7219373802444595 ], [ -0.7319372217356686, 0.6813720741546947 ] ] }, { "task_id": "0000463", "id": "RH20T_cfg4_task_0107_user_0007_scene_0016_cfg_0004_104122062823#109", "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 crumpled paper on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000463/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, 0.9615239475087477 ], [ 0.9635078110250337, -0.26768021610449294 ], [ -0.35652434616604556, -0.9342860325354724 ], [ -0.9415581102956517, 0.336850597352122 ] ] }, { "task_id": "0000464", "id": "RH20T_cfg7_task_0052_user_0020_scene_0010_cfg_0007_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put a basketball into the basket', and now you are performing subtask 'pick up the basketball 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000464/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5407575912810078, 0.841178475326012 ], [ 0.7726814586703229, -0.6347939535212209 ], [ -0.5080631685045969, -0.8613198109930305 ], [ -0.8897186930596953, 0.4565091973007202 ] ] }, { "task_id": "0000465", "id": "RH20T_cfg4_task_0038_user_0014_scene_0005_cfg_0004_104122062823#115", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000465/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8943474878294274, -0.4473729663414995 ], [ -0.4949469500373337, 0.8689231937569287 ], [ 0.8204386953833449, 0.5717345075449575 ], [ 0.5812381936515288, -0.8137334711121403 ] ] }, { "task_id": "0000466", "id": "RH20T_cfg6_task_0105_user_0014_scene_0003_cfg_0006_104122064161#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the blocks on the shelf', and now you are performing subtask 'pick up the blocks 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000466/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.993202751937023, -0.11639713718440191 ], [ -0.09024090850189712, -0.9959199658771544 ], [ 0.0, 0.9999999998333333 ], [ -0.9995538390047863, 0.02986842698894186 ] ] }, { "task_id": "0000467", "id": "RH20T_cfg7_task_0013_user_0020_scene_0007_cfg_0007_104122064161#113", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000467/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9256605520889086, 0.37835504794631314 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.29753070685652605, -0.9547122490454683 ], [ -0.9727262897986853, -0.23195595516063897 ] ] }, { "task_id": "0000468", "id": "RH20T_cfg4_task_0064_user_0015_scene_0008_cfg_0004_104122062823#131", "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 down 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000468/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6515631175767319, 0.7585944264319966 ], [ 0.8053315618281417, 0.5928246583294643 ], [ -0.7592566022829437, -0.6507913733853803 ], [ 0.6067608189115614, -0.7948844624432985 ] ] }, { "task_id": "0000469", "id": "RH20T_cfg5_task_0046_user_0010_scene_0002_cfg_0005_104122063678#237", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000469/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9904942227602067, 0.1375543335509791 ], [ 0.0, 0.9999999989999999 ], [ -0.02550913997644379, -0.999674588942653 ], [ -0.99832384007156, 0.05787495438247919 ] ] }, { "task_id": "0000470", "id": "RH20T_cfg4_task_0064_user_0007_scene_0002_cfg_0004_104122062823#214", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000470/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9386694563416556, -0.34481828798841413 ], [ 0.2060104810392318, 0.9785497849363511 ], [ -0.10259107123299763, -0.9947236159372441 ], [ -0.9701498243599684, 0.2425063262975266 ] ] }, { "task_id": "0000471", "id": "RH20T_cfg6_task_0025_user_0014_scene_0010_cfg_0006_104122064161#43", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end weighed down by a heavy object', and now you are performing subtask 'unfold that piece of paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000471/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.03136295336874836, -0.9995080615762886 ], [ -0.9977841823003659, 0.06653364225104684 ], [ -0.09117869669129743, 0.9958345471360573 ] ] }, { "task_id": "0000472", "id": "RH20T_cfg6_task_0067_user_0014_scene_0004_cfg_0006_104122064161#144", "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 button on the white device from top to bottom with obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000472/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7590927275706085, 0.6509825120150416 ], [ 0.7963806756135612, -0.6047956841027289 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.6430367503794282, -0.765835320197146 ] ] }, { "task_id": "0000473", "id": "RH20T_cfg7_task_0046_user_0014_scene_0006_cfg_0007_104122064161#101", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000473/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.968321679933096, -0.24970607555994048 ], [ -0.1174168298339624, -0.9930827196521659 ], [ -0.9684205840929329, 0.24932222585462127 ], [ 0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0000474", "id": "RH20T_cfg6_task_0126_user_0014_scene_0007_cfg_0006_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the plug into the socket', and now you are performing subtask 'pick up the plug from the middle of the two blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000474/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970140546751881, -0.07722030031113003 ], [ 0.0, 0.9999999998 ], [ 0.1143416154579383, -0.9934414904635648 ], [ -0.9999774005731675, 0.006722971287368956 ] ] }, { "task_id": "0000475", "id": "RH20T_cfg4_task_0103_user_0007_scene_0010_cfg_0004_104122062823#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the silver plate into the ball basket', and now you are performing subtask 'push the silver plate into the ball basket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000475/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8972379431233579, 0.44154736260084926 ], [ 0.4162781806702221, -0.9092373047218696 ], [ -0.8470885051835159, -0.5314518457828111 ], [ -0.4472135954749579, 0.8944271909499159 ] ] }, { "task_id": "0000476", "id": "RH20T_cfg4_task_0072_user_0007_scene_0002_cfg_0004_104122062823#213", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000476/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7706507066235595, 0.6372577880109497 ], [ 0.5927727234452811, 0.8053697898104102 ], [ 0.7399249716041586, -0.6726894055926442 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0000477", "id": "RH20T_cfg4_task_0033_user_0016_scene_0006_cfg_0004_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to sweep the other small block into a designated position', and now you are performing subtask 'push the large square on the table to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000477/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06651901051934915, 0.9977851577902372 ], [ 0.9992806039836175, -0.037924589676574534 ], [ -0.10088390171976636, -0.9948982050309452 ], [ -0.9779243547093494, 0.2089592220178438 ] ] }, { "task_id": "0000478", "id": "RH20T_cfg4_task_0033_user_0016_scene_0006_cfg_0004_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to sweep the other small block into a designated position', and now you are performing subtask 'push the large square on the table to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000478/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8587160623422224, 0.5124516799420881 ], [ 0.5387908146857515, -0.842439587157598 ], [ -0.5144957553392911, 0.8574929255654853 ], [ -0.8034574826948132, -0.5953621364360636 ] ] }, { "task_id": "0000479", "id": "RH20T_cfg5_task_0008_user_0007_scene_0005_cfg_0005_104122063678#222", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000479/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999828586557669, -0.005855116962175374 ], [ 0.006261744742337607, -0.9999803950842145 ], [ 0.0, 0.9999999989999999 ], [ -0.999248454845294, -0.03876242367670633 ] ] }, { "task_id": "0000480", "id": "RH20T_cfg7_task_0017_user_0014_scene_0001_cfg_0007_104122064161#136", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000480/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998833716027051, 0.015272301477080414 ], [ 0.0, 0.9999999998 ], [ 0.03697607963512562, -0.9993161509426418 ], [ -0.9888789300546028, 0.14872276790748654 ] ] }, { "task_id": "0000481", "id": "RH20T_cfg5_task_0006_user_0010_scene_0006_cfg_0005_104122063678#384", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block backward', and now you are performing subtask 'push the square block backward on the checked 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000481/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, -0.8944271905999158 ], [ -0.9071025341902391, -0.420909720089292 ], [ -0.4032403624828, 0.9150940990219204 ], [ 0.8380869834215753, 0.5455366240861601 ] ] }, { "task_id": "0000483", "id": "RH20T_cfg2_task_0033_user_0003_scene_0005_cfg_0002_037522062165#207", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping a small block to push another small block into the designated position', and now you are performing subtask 'pick up the small block on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000483/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.75686022456158, -0.6535767747377463 ], [ -0.7658877375678197, -0.6429743178722199 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6837612151888756, 0.7297058315536695 ] ] }, { "task_id": "0000484", "id": "RH20T_cfg2_task_0033_user_0003_scene_0005_cfg_0002_037522062165#255", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping a small block to push another small block into the designated position', and now you are performing subtask 'transfer the small block from the cardboard to above another 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000484/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.29719381388634636, -0.9548171746400919 ], [ -0.9385361666906774, 0.3451809146137269 ], [ 0.27348545421431153, 0.9618761387690162 ], [ 0.9578262851294083, -0.28734788553882246 ] ] }, { "task_id": "0000485", "id": "RH20T_cfg3_task_0010_user_0011_scene_0004_cfg_0003_104122062823#914", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000485/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8888366704610066, 0.45822415174649195 ], [ 0.16850739632653905, -0.9857003892579381 ], [ -0.9054728137611883, -0.4244042689928986 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000486", "id": "RH20T_cfg6_task_0053_user_0014_scene_0008_cfg_0006_104122063633#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the yellow clamp from the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000486/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9422945684891162, -0.3347849252817552 ], [ -0.41943951860917594, -0.9077832837351121 ], [ -0.960695503564248, 0.2776043036976117 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000487", "id": "RH20T_cfg5_task_0119_user_0010_scene_0006_cfg_0005_104122063678#115", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000487/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.603767055117738, -0.7971608013158038 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7885490833779304, -0.6149718230161654 ], [ -0.6725489188423462, 0.7400526682365189 ] ] }, { "task_id": "0000488", "id": "RH20T_cfg3_task_0026_user_0011_scene_0009_cfg_0003_104122062823#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer to the closed 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000488/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7231138268224547, -0.690728885640513 ], [ -0.7476954926098303, 0.6640417534545123 ], [ 0.6585046078065712, -0.7525766946360813 ], [ 0.762218536080031, 0.6473197843848236 ] ] }, { "task_id": "0000489", "id": "RH20T_cfg6_task_0078_user_0014_scene_0001_cfg_0006_104122064161#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000489/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.400818833996757, 0.9161573348497302 ], [ 0.9463216240739972, 0.32322652089510256 ], [ 0.41487162540322836, -0.9098799560575469 ], [ -0.9086562933252779, -0.417544896508587 ] ] }, { "task_id": "0000490", "id": "RH20T_cfg5_task_0201_user_0007_scene_0009_cfg_0005_104122063678#272", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000490/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0034267203171357854, -0.9999941287766985 ], [ -0.9978701530970797, 0.06523156872259542 ], [ 0.9999999989999999, 0.0 ], [ 0.13649842199296316, 0.9906402882951162 ] ] }, { "task_id": "0000491", "id": "RH20T_cfg5_task_0044_user_0010_scene_0009_cfg_0005_104122063678#213", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000491/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5177002388872821, 0.8555620741103774 ], [ 0.8435427378082271, -0.5370620536688481 ], [ -0.32859167242813747, -0.9444720815412596 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0000492", "id": "RH20T_cfg3_task_0001_user_0016_scene_0009_cfg_0003_104122062823#231", "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 the top of the box downwards'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000492/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5812381936515288, 0.8137334711121403 ], [ 0.7222450435693032, -0.6916372582789155 ], [ -0.6527120828723233, -0.7576060565178142 ], [ -0.756934205789372, 0.65349109259883 ] ] }, { "task_id": "0000493", "id": "RH20T_cfg2_task_0054_user_0007_scene_0003_cfg_0002_105422061350#507", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the toy car 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000493/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271907999158, 0.4472135953999579 ], [ 0.4832432816038608, -0.8754861111318282 ], [ -0.9013873861911392, -0.4330136025756073 ], [ -0.4688919986216393, 0.8832555086885134 ] ] }, { "task_id": "0000494", "id": "RH20T_cfg4_task_0072_user_0007_scene_0004_cfg_0004_104122062823#205", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000494/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.8138164500009859, 0.5811220058712222 ], [ 0.47625403463729904, -0.8793077359444158 ], [ -0.8922288460815291, -0.45158353182996297 ] ] }, { "task_id": "0000495", "id": "RH20T_cfg6_task_0215_user_0014_scene_0004_cfg_0006_104122064161#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the kitchen knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000495/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9697765898570595, -0.24399460191818334 ], [ -0.28656300141983065, -0.9580614000246843 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.9968526008962691, 0.07927731129613094 ] ] }, { "task_id": "0000496", "id": "RH20T_cfg5_task_0088_user_0007_scene_0001_cfg_0005_104122063678#241", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the square on the green 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000496/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8428085863599012, 0.538213421198343 ], [ 0.30810904198331074, -0.9513510489026259 ], [ -0.4472135953999579, 0.8944271907999158 ], [ -0.8336100497817364, -0.5523534058036494 ] ] }, { "task_id": "0000497", "id": "RH20T_cfg3_task_0017_user_0010_scene_0002_cfg_0003_104122062823#148", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000497/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9823015776419168, -0.1873061946711891 ], [ -0.07721942913585549, 0.9970141221486949 ], [ 0.9973972378991507, 0.07210235662684703 ], [ 0.16439898727833027, -0.9863939236699816 ] ] }, { "task_id": "0000498", "id": "RH20T_cfg4_task_0002_user_0010_scene_0003_cfg_0004_104122062823#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up a napkin'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000498/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.979558049441038, -0.20116169559652483 ], [ -0.13543133099521812, -0.9907867351679995 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.9809193127333288, 0.19441528208135772 ] ] }, { "task_id": "0000499", "id": "RH20T_cfg4_task_0091_user_0014_scene_0005_cfg_0004_104122062823#99", "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 from the green 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000499/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9982668878617621, -0.05884913422296289 ], [ -0.04173112002383198, -0.9991288773834718 ], [ -0.9946275970947659, 0.10351783951325579 ], [ 0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0000500", "id": "RH20T_cfg7_task_0006_user_0020_scene_0004_cfg_0007_104122064161#146", "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 left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000500/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6502073068689528, -0.7597568414264024 ], [ -0.6087265660991821, -0.7933800903256258 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6311223350167018, 0.7756833105353408 ] ] }, { "task_id": "0000501", "id": "RH20T_cfg2_task_0020_user_0003_scene_0001_cfg_0002_037522062165#280", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000501/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3269379303665126, 0.9450458135390376 ], [ 0.9225586428730311, -0.38585690412414697 ], [ -0.9284766907128456, 0.3713906762851382 ], [ -0.3321270423521236, -0.9432346620743063 ] ] }, { "task_id": "0000502", "id": "RH20T_cfg2_task_0014_user_0006_scene_0002_cfg_0002_037522062165#312", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000502/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970358254609757, 0.07693869473386601 ], [ 0.0, 0.9999999995 ], [ 0.07296303215607748, -0.9973346459130913 ], [ -0.9980054916661847, -0.06312716217395656 ] ] }, { "task_id": "0000503", "id": "RH20T_cfg4_task_0014_user_0010_scene_0003_cfg_0004_038522062288#120", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000503/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9819729849797433, -0.18902131300457334 ], [ 0.31622776599183794, 0.9486832979755138 ], [ -0.22209187740986944, -0.9750257422184091 ], [ -0.9021886002582766, 0.43134177813424407 ] ] }, { "task_id": "0000504", "id": "RH20T_cfg4_task_0095_user_0014_scene_0003_cfg_0004_038522062288#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the table', and now you are performing subtask 'pick up the photo frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000504/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.710443139137842, 0.7037546064161633 ], [ 0.6519413733220006, 0.7582693754537525 ], [ -0.707106781141093, -0.707106781141093 ], [ 0.6487517889560418, -0.7610000764299143 ] ] }, { "task_id": "0000505", "id": "RH20T_cfg6_task_0207_user_0014_scene_0004_cfg_0006_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the chili peppers', and now you are performing subtask 'pick up the knife on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000505/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9177302898716388, 0.3972041226524691 ], [ 0.47366505325460706, -0.8807050682977305 ], [ -0.9584914323168575, -0.28512133237479637 ], [ -0.35897907929598244, 0.9333456061695544 ] ] }, { "task_id": "0000506", "id": "RH20T_cfg7_task_0010_user_0014_scene_0008_cfg_0007_104122064161#125", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000506/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, -0.8944271905999158 ], [ -0.8798918640798935, 0.4751739760614107 ], [ 0.3187822449056612, 0.9478279803492335 ], [ 0.8732769526556171, -0.48722414139748776 ] ] }, { "task_id": "0000507", "id": "RH20T_cfg3_task_0018_user_0011_scene_0008_cfg_0003_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block backward', and now you are performing subtask 'pick up the block from under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000507/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3417430630575073, 0.939793423408145 ], [ 0.97508866421107, -0.2218154569164899 ], [ -0.3285646496869908, -0.9444814826009374 ], [ -0.8825602246730015, 0.4701993724210414 ] ] }, { "task_id": "0000509", "id": "RH20T_cfg6_task_0048_user_0014_scene_0006_cfg_0006_104122064161#144", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000509/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7835773827369952, 0.6212942018585402 ], [ 0.6625133578652552, 0.7490500988919929 ], [ -0.7071067810615475, -0.7071067810615475 ], [ 0.7216219649111872, -0.6922873245681429 ] ] }, { "task_id": "0000510", "id": "RH20T_cfg6_task_0046_user_0014_scene_0010_cfg_0006_104122064161#157", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000510/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9938837345638627, -0.11043152606265141 ], [ -0.15775424008426453, -0.9874784046932046 ], [ -0.9992376301299853, -0.03904047300188134 ], [ -0.02795018993005811, 0.9996093171248823 ] ] }, { "task_id": "0000511", "id": "RH20T_cfg5_task_0201_user_0007_scene_0003_cfg_0005_104122063678#305", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up medium pipette from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000511/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14899834894641534, 0.9888374446850414 ], [ -0.9999999989999999, 0.0 ], [ 0.999091092705211, -0.04262614780985234 ], [ 0.07303863394056456, -0.9973291121551081 ] ] }, { "task_id": "0000512", "id": "RH20T_cfg4_task_0083_user_0007_scene_0006_cfg_0004_104122062823#125", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000512/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38074980524393987, 0.9246780984495682 ], [ 0.9582504251203101, -0.2859302760407599 ], [ -0.42819111174619756, -0.9036882049808747 ], [ -0.8985940906335552, 0.43878087957254225 ] ] }, { "task_id": "0000513", "id": "RH20T_cfg3_task_0021_user_0011_scene_0006_cfg_0003_104122062823#163", "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 it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000513/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.16439898727833027, 0.9863939236699816 ], [ 0.9943026761170155, 0.10659356578396952 ], [ 0.18693673037918637, -0.9823719554400663 ], [ -0.9969726630972118, -0.07775287156660873 ] ] }, { "task_id": "0000514", "id": "RH20T_cfg4_task_0060_user_0016_scene_0007_cfg_0004_104122062823#114", "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 knob counterclockwise to decrease the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000514/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8574929255654853, -0.5144957553392911 ], [ -0.6165679603082994, 0.7873016895201378 ], [ 0.891798786844679, 0.4524322311488859 ], [ 0.4726054967010257, -0.8812741029259721 ] ] }, { "task_id": "0000515", "id": "RH20T_cfg2_task_0032_user_0003_scene_0001_cfg_0002_037522062165#224", "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 lid outside 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000515/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3885754314224639, -0.9214169165447561 ], [ -0.9354174255960478, 0.3535452444755304 ], [ 0.18309930954272716, 0.983094422141117 ], [ 0.9701424999100378, -0.24253562497750944 ] ] }, { "task_id": "0000516", "id": "RH20T_cfg7_task_0035_user_0014_scene_0006_cfg_0007_104122064161#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block on the table', and now you are performing subtask 'pick up the small square block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000516/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9855729959739569, 0.16925090725582254 ], [ 0.3457353564640471, -0.938332064511641 ], [ -0.9566403940368012, -0.2912716197934735 ], [ -0.31622776596683794, 0.9486832979005138 ] ] }, { "task_id": "0000517", "id": "RH20T_cfg2_task_0101_user_0007_scene_0006_cfg_0002_105422061350#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000517/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9051444476944741, -0.4251041387799764 ], [ -0.3095358507623608, -0.9508877731324666 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.8976781031190547, 0.4406518162683274 ] ] }, { "task_id": "0000518", "id": "RH20T_cfg6_task_0044_user_0020_scene_0010_cfg_0006_104122064161#71", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000518/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.995087682467764, 0.09899749593264648 ], [ -0.2425356250069212, 0.9701425000276848 ], [ 0.255335991554867, -0.966852383467452 ], [ -0.9286054232334319, -0.371068683590328 ] ] }, { "task_id": "0000519", "id": "RH20T_cfg3_task_0017_user_0010_scene_0004_cfg_0003_104122062823#160", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000519/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9763591250521815, 0.21615471062953664 ], [ 0.21058670612075203, -0.9775751834028993 ], [ -0.9885512656990416, -0.15088537067861427 ], [ -0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0000520", "id": "RH20T_cfg4_task_0109_user_0015_scene_0010_cfg_0004_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000520/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999411765 ], [ 0.9961305539185279, -0.08788583247581444 ], [ -0.07327608929961771, -0.9973116938735626 ], [ -0.9993266527574826, 0.03669115817912939 ] ] }, { "task_id": "0000521", "id": "RH20T_cfg5_task_0014_user_0010_scene_0001_cfg_0005_104122063678#236", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000521/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6668459094408685, 0.7451956340867686 ], [ 0.6872170832736813, -0.7264521184887648 ], [ -0.6958599515053807, -0.7181775044450566 ], [ -0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0000523", "id": "RH20T_cfg4_task_0103_user_0014_scene_0019_cfg_0004_104122062823#111", "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 'slide the plate from its current position on the table to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000523/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6739445526660423, 0.738781929889848 ], [ -0.7071067811151189, -0.7071067811151189 ], [ 0.5931819473037757, 0.8050684302547831 ], [ 0.716491855808926, -0.6975954562348303 ] ] }, { "task_id": "0000524", "id": "RH20T_cfg6_task_0052_user_0014_scene_0007_cfg_0006_104122063633#66", "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 on the green 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000524/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6473036340415276, -0.7622322515851925 ], [ -0.5933592811166455, -0.8049377389045302 ], [ -0.649304044415739, 0.7605289329837256 ], [ 0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0000525", "id": "RH20T_cfg2_task_0054_user_0007_scene_0015_cfg_0002_105422061350#206", "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 nearby'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000525/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6718388370313058, -0.7406973586130995 ], [ -0.8382927265517075, 0.5452204183727019 ], [ 0.6457508530746382, 0.7635481882326597 ], [ 0.7633862853242869, -0.6459422414282427 ] ] }, { "task_id": "0000526", "id": "RH20T_cfg7_task_0039_user_0020_scene_0006_cfg_0007_104122064161#127", "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 black 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000526/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9896930436677733, -0.14320502545518085 ], [ -0.10269565775220266, -0.9947128238234604 ], [ -0.9897862729330029, 0.1425592294921494 ] ] }, { "task_id": "0000527", "id": "RH20T_cfg4_task_0104_user_0007_scene_0009_cfg_0004_104122062823#104", "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 to fix it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000527/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9175501194068744, 0.3976201433232864 ], [ 0.2389446177178871, -0.9710331969936212 ], [ -0.301131367921984, 0.9535826650862826 ], [ -0.9421998142863263, -0.3350515034421013 ] ] }, { "task_id": "0000528", "id": "RH20T_cfg4_task_0126_user_0007_scene_0002_cfg_0004_104122062823#150", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000528/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8682431420167669, -0.4961389382952954 ], [ -0.38829631884908256, -0.9215345727471388 ], [ -0.8816054651182352, 0.47198708019781677 ], [ 0.41102691645250927, 0.9116232083221346 ] ] }, { "task_id": "0000529", "id": "RH20T_cfg6_task_0075_user_0014_scene_0008_cfg_0006_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black car from the side position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000529/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9977064187885276, 0.06768974743763874 ], [ 0.09016182332088071, -0.9959271286672807 ], [ 0.0, 0.9999999998571428 ], [ -0.9926902218169447, 0.12069019640809742 ] ] }, { "task_id": "0000530", "id": "RH20T_cfg3_task_0062_user_0010_scene_0002_cfg_0003_104122062823#338", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000530/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7813125520407486, 0.6241399650908221 ], [ 0.6050324033622466, 0.7962008483301835 ], [ 0.7318895920646727, -0.6814232348749248 ], [ -0.7203202134722639, -0.6936416870473653 ] ] }, { "task_id": "0000531", "id": "RH20T_cfg4_task_0329_user_0014_scene_0007_cfg_0004_038522062288#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000531/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9261159411057495, 0.3772390006743894 ], [ -0.44721359543329126, 0.8944271908665825 ], [ 0.5395888470419721, -0.8419286645244448 ], [ -0.8883675237603447, -0.45913303380165704 ] ] }, { "task_id": "0000532", "id": "RH20T_cfg6_task_0014_user_0014_scene_0002_cfg_0006_104122064161#80", "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 cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000532/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06357771057964669, -0.9979768908734563 ], [ -0.9894281144735317, 0.14502415760607565 ], [ 0.9999999989999999, 0.0 ], [ -0.11725196174356045, 0.993102198903661 ] ] }, { "task_id": "0000534", "id": "RH20T_cfg7_task_0004_user_0014_scene_0004_cfg_0007_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block on the right onto the table on the left', and now you are performing subtask 'pick up the block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000534/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9678326221107135, 0.2515949434672739 ], [ 0.27459269098888917, -0.9615606346224249 ], [ -0.17888543818398317, 0.9838699100119074 ], [ -0.9882848026705732, -0.15262093175703728 ] ] }, { "task_id": "0000535", "id": "RH20T_cfg2_task_0064_user_0007_scene_0008_cfg_0002_105422061350#269", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000535/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.22571933308015626, -0.9741923745718037 ], [ 0.9899494935211665, -0.1414213562173095 ], [ -0.9954999232203345, 0.09476234942374648 ], [ 0.03104805896784989, 0.99951789280349 ] ] }, { "task_id": "0000536", "id": "RH20T_cfg7_task_0018_user_0014_scene_0002_cfg_0007_104122064161#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the left', and now you are performing subtask 'push the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000536/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983414132057633, 0.0575710229049239 ], [ 0.0, 0.9999999995 ], [ 0.07199781327502155, -0.9974047898840346 ], [ -0.9967058475526143, -0.0811015009381748 ] ] }, { "task_id": "0000537", "id": "RH20T_cfg6_task_0068_user_0014_scene_0007_cfg_0006_104122064161#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the robotic arm horizontally on the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000537/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3939192985533056, 0.919145029957713 ], [ 0.96327335859262, 0.26852269294362024 ], [ 0.3266791029259699, -0.9451353150271572 ], [ -0.9154126232154203, -0.40251674407142746 ] ] }, { "task_id": "0000538", "id": "RH20T_cfg4_task_0073_user_0015_scene_0001_cfg_0004_104122062823#240", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'transfer the block from the table to the inside of 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000538/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999642857, 0.0 ], [ 0.03593052732111429, 0.9993542901325969 ], [ 0.9971946836594714, 0.07485160573619544 ], [ -0.009928477352933032, -0.9999507114540458 ] ] }, { "task_id": "0000539", "id": "RH20T_cfg6_task_0002_user_0020_scene_0008_cfg_0006_104122064161#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the tissue from the tissue bag to the desktop', and now you are performing subtask 'pick up a napkin in the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000539/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9374834459709832, -0.34802986729643 ], [ -0.36691900922407744, -0.9302528907076943 ], [ 0.4472135954599579, 0.8944271909199158 ], [ -0.9037810712317701, 0.42799506455466774 ] ] }, { "task_id": "0000540", "id": "RH20T_cfg4_task_0112_user_0014_scene_0006_cfg_0004_038522062288#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the charger to the socket', and now you are performing subtask 'pick up the charger from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000540/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9951889236564325, -0.0979745182766995 ], [ -0.08616940442840448, -0.9962804995283479 ], [ 0.0, 0.9999999996666666 ], [ -0.9907208634607593, -0.13591236405701823 ] ] }, { "task_id": "0000541", "id": "RH20T_cfg4_task_0021_user_0016_scene_0010_cfg_0004_104122062823#86", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000541/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6307592754699631, 0.7759785669775986 ], [ 0.8567311232230511, -0.5157633008473648 ], [ -0.6830429985447346, -0.7303781637884703 ], [ -0.7808688093210792, 0.6246950474568633 ] ] }, { "task_id": "0000542", "id": "RH20T_cfg4_task_0077_user_0015_scene_0007_cfg_0004_104122062823#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) is done randomly one at a time', and now you are performing subtask 'pick up the small Lego block on the left side of the mat'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000542/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.47288239540236016, 0.881125552982392 ], [ -0.8944271905999158, -0.4472135952999579 ], [ 0.9135350396404132, 0.406760041485381 ], [ 0.410169709576578, -0.9120092156035846 ] ] }, { "task_id": "0000543", "id": "RH20T_cfg4_task_0004_user_0010_scene_0009_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000543/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9553137369412019, 0.2955937482617591 ], [ -0.22722961559904223, 0.9738412097101811 ], [ 0.18699256099820977, -0.9823613297210609 ], [ -0.9664499366639597, -0.25685505625201976 ] ] }, { "task_id": "0000544", "id": "RH20T_cfg5_task_0047_user_0007_scene_0008_cfg_0005_104122063678#295", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack and place it on the table', and now you are performing subtask 'pick up the cup from the cup 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000544/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.783401344180911, 0.621516157421142 ], [ 0.5945348745840516, -0.8040698246441822 ], [ -0.623869593363203, -0.781528457880346 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0000545", "id": "RH20T_cfg2_task_0044_user_0007_scene_0005_cfg_0002_037522062165#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the bag to the right side', and now you are performing subtask 'pick up the bag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000545/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9532983894630873, -0.30203009890917154 ], [ -0.1821328798585744, -0.9832739262659324 ], [ -0.9765156990123445, 0.21544625683086782 ] ] }, { "task_id": "0000546", "id": "RH20T_cfg2_task_0017_user_0003_scene_0005_cfg_0002_037522062165#185", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000546/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9891523794550247, 0.14689305708052708 ], [ 0.0, 0.9999999989999999 ], [ 0.07384611666521194, -0.9972696481160288 ], [ -0.9999839126250186, 0.005672256267054521 ] ] }, { "task_id": "0000547", "id": "RH20T_cfg2_task_0091_user_0007_scene_0010_cfg_0002_037522062165#410", "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 small cube from the black 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000547/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6773266651252998, -0.7356823966293062 ], [ -0.8003548126946032, 0.599526624760391 ], [ 0.791415051064597, 0.6112791644972216 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0000548", "id": "RH20T_cfg5_task_0020_user_0010_scene_0010_cfg_0005_104122063678#240", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000548/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04269396787241213, -0.9990881968611728 ], [ -0.996938093995261, 0.07819486390483764 ], [ -0.0719764707615614, 0.9974063302670131 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0000549", "id": "RH20T_cfg7_task_0075_user_0014_scene_0008_cfg_0007_104122064161#67", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the chess pieces on the chessboard', and now you are performing subtask 'pick up the chess piece from the side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000549/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, -0.7071067809365474 ], [ -0.7125862924338524, 0.7015844751955221 ], [ 0.775817470208693, 0.6309574097504395 ], [ 0.6742895585374286, -0.7384670549505914 ] ] }, { "task_id": "0000550", "id": "RH20T_cfg6_task_0063_user_0007_scene_0006_cfg_0006_104122063633#177", "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 blue shovel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000550/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9920891994801132, 0.12553493647151864 ], [ 0.01889924106543423, -0.9998213933934154 ], [ -0.9984166701977145, 0.05625080151702979 ] ] }, { "task_id": "0000551", "id": "RH20T_cfg5_task_0096_user_0007_scene_0007_cfg_0005_104122063678#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take something out of a drawer and put it on the table', and now you are performing subtask 'pull the handle of 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000551/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999974030189, 7.206914946292937e-05 ], [ 0.20056467700747174, -0.979680463384306 ], [ -0.9997217353473465, -0.023589232164064413 ], [ -0.08304547984684342, 0.996545758162121 ] ] }, { "task_id": "0000552", "id": "RH20T_cfg5_task_0096_user_0007_scene_0007_cfg_0005_104122063678#417", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take something out of a drawer and put it on the table', and now you are performing subtask 'pick up the wooden block from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000552/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.9481746226398332, 0.3177497206636222 ], [ 0.5401820991689177, -0.8415481565171784 ], [ -0.8405652535329765, -0.5417103050090915 ] ] }, { "task_id": "0000554", "id": "RH20T_cfg4_task_0213_user_0014_scene_0004_cfg_0004_104122062823#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the kitchen knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000554/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3442546491476494, 0.9388763158572256 ], [ 0.9047623527016079, 0.4259167584562168 ], [ 0.4428104089133689, -0.8966152696435495 ], [ -0.9446996150935759, -0.32793694095366804 ] ] }, { "task_id": "0000555", "id": "RH20T_cfg7_task_0018_user_0014_scene_0010_cfg_0007_104122064161#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000555/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998793667888677, -0.015532284760880855 ], [ 0.0, 0.9999999998 ], [ -0.1498585321452086, -0.9887074493212255 ], [ -0.9980466762019674, 0.0624726509938968 ] ] }, { "task_id": "0000556", "id": "RH20T_cfg2_task_0005_user_0013_scene_0007_cfg_0002_105422061350#221", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000556/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3303090818710539, -0.9438728253496345 ], [ -0.8702766320516806, 0.49256327888382395 ], [ 0.4903313745817274, 0.8715360825007727 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0000557", "id": "RH20T_cfg6_task_0104_user_0014_scene_0004_cfg_0006_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the plate out of the goal', and now you are performing subtask 'pull the plate out of the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000557/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998926241274267, -0.046328873218165485 ], [ 0.0, 0.9999999989999999 ], [ 0.14835839192949196, -0.9889336618520452 ], [ -0.9925368600641633, 0.12194499339444628 ] ] }, { "task_id": "0000559", "id": "RH20T_cfg2_task_0078_user_0014_scene_0001_cfg_0002_105422061350#28", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the handle of the microwave door to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000559/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8818084630899093, 0.4716077124295277 ], [ -0.5038710254878168, 0.8637789008362573 ], [ 0.46270772158227125, -0.8865108935530027 ], [ -0.9299837445105422, -0.36760064600888653 ] ] }, { "task_id": "0000560", "id": "RH20T_cfg4_task_0011_user_0010_scene_0002_cfg_0004_104122062823#110", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000560/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5468432727335852, 0.8372349939330186 ], [ -0.7961621940977475, 0.6050832675142881 ], [ 0.709715536393049, -0.7044883656969266 ], [ -0.6697577887393688, -0.7425796283382349 ] ] }, { "task_id": "0000561", "id": "RH20T_cfg4_task_0035_user_0017_scene_0009_cfg_0004_104122062823#84", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000561/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6551502394804939, 0.7554986192632331 ], [ -0.6941355705663869, 0.719844295402179 ], [ 0.7778676960130924, -0.6284280766319112 ], [ -0.6869241655056589, -0.7267291041676769 ] ] }, { "task_id": "0000562", "id": "RH20T_cfg4_task_0121_user_0007_scene_0001_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out the light bulb by rotating it', and now you are performing subtask 'pick up the light bulb'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000562/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271908999158, 0.4472135954499579 ], [ 0.47577291547552697, -0.8795681513674294 ], [ -0.8787893322413063, -0.4772099218780754 ], [ -0.5416233460762474, 0.840621288681871 ] ] }, { "task_id": "0000563", "id": "RH20T_cfg5_task_0118_user_0010_scene_0005_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 water tap handle counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000563/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40613846601221054, 0.9138115485274737 ], [ 0.8831744722994871, -0.46904461565881195 ], [ -0.4260750672036448, -0.9046878119591363 ], [ -0.9657867621816925, 0.25933748281843705 ] ] }, { "task_id": "0000564", "id": "RH20T_cfg7_task_0045_user_0020_scene_0002_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000564/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983095288590537, -0.0581212920470163 ], [ 0.027576015016044852, -0.9996197093874425 ], [ -0.9908941253520797, 0.13464335238970115 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000565", "id": "RH20T_cfg4_task_0096_user_0014_scene_0002_cfg_0004_038522062288#96", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000565/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9976835081217468, 0.06802659496024006 ], [ 0.03279273460156996, -0.9994621736500842 ], [ 0.0, 0.9999999998 ], [ -0.9949058764735117, 0.10080821870499222 ] ] }, { "task_id": "0000566", "id": "RH20T_cfg4_task_0096_user_0014_scene_0002_cfg_0004_038522062288#269", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000566/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.7195909103727727, -0.6943982443158135 ], [ -0.7931043970904061, -0.6090857208274247 ], [ -0.6047172339462691, 0.7964402469541412 ] ] }, { "task_id": "0000567", "id": "RH20T_cfg6_task_0044_user_0014_scene_0010_cfg_0006_104122064161#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000567/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35112344154729586, 0.9363291774594555 ], [ 0.893876798348654, 0.44831269151559827 ], [ 0.3468803879760042, -0.9379093753863519 ], [ -0.9029178812431509, -0.4298130986037762 ] ] }, { "task_id": "0000568", "id": "RH20T_cfg2_task_0022_user_0003_scene_0001_cfg_0002_037522062165#84", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000568/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6534466065641058, 0.7569726100526061 ], [ 0.7961769944374519, -0.6050637929413275 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6673296043346663, -0.7447625119315137 ] ] }, { "task_id": "0000569", "id": "RH20T_cfg4_task_0062_user_0007_scene_0002_cfg_0004_104122062823#146", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000569/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41380294426693737, 0.9103664773872623 ], [ 0.8770272927439229, -0.4804405559299353 ], [ -0.33848191695215063, -0.9409728964727929 ], [ -0.8795083660091745, 0.47588342492660113 ] ] }, { "task_id": "0000570", "id": "RH20T_cfg6_task_0041_user_0014_scene_0005_cfg_0006_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000570/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9100443246373078, -0.4145109494276675 ], [ 0.4961389382952954, 0.8682431420167669 ], [ -0.4794685886207266, -0.8775590421880732 ], [ -0.8375203457353955, 0.5464061405943968 ] ] }, { "task_id": "0000571", "id": "RH20T_cfg6_task_0024_user_0014_scene_0010_cfg_0006_104122064161#32", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000571/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8286840632655281, -0.5597166455356982 ], [ 0.5812381936515288, 0.8137334711121403 ], [ -0.4909420896930791, -0.8711922087391466 ], [ -0.8003448576972089, 0.5995399142322673 ] ] }, { "task_id": "0000572", "id": "RH20T_cfg4_task_0018_user_0016_scene_0006_cfg_0004_104122062823#211", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'gently push the Jenga tower to the side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000572/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12403473457382384, 0.9922778765905907 ], [ 0.994278148539092, -0.10682211071531719 ], [ -0.04204187319262967, -0.9991158495882522 ], [ -0.9661529274686335, 0.25796999969723133 ] ] }, { "task_id": "0000573", "id": "RH20T_cfg5_task_0060_user_0007_scene_0006_cfg_0005_104122063678#252", "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 'turn the knob counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000573/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.43475988902278434, -0.9005464112953293 ], [ -0.9362828063388167, 0.35124707337472594 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.3094673182623446, 0.9509100793069305 ] ] }, { "task_id": "0000574", "id": "RH20T_cfg4_task_0088_user_0014_scene_0006_cfg_0004_104122062823#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the small block to the left of the green cloth', and now you are performing subtask 'pick up the small square on the right side of the green 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000574/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9633686225149726, 0.26818071734113214 ], [ -0.2026056040291108, 0.9792604194740354 ], [ 0.22932271640291724, -0.9733504465204642 ], [ -0.9971083018290116, -0.0759936472586017 ] ] }, { "task_id": "0000575", "id": "RH20T_cfg6_task_0103_user_0020_scene_0003_cfg_0006_104122064161#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate into the goal', and now you are performing subtask 'push the plate into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000575/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998571428 ], [ 0.992629919439747, 0.12118516011889229 ], [ 0.006869066330029076, -0.9999764076855783 ], [ -0.9924104155592742, 0.12296978120444274 ] ] }, { "task_id": "0000576", "id": "RH20T_cfg1_task_0021_user_0001_scene_0004_cfg_0001_039422060546#153", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000576/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41148877596664396, 0.9114148272073881 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.8397853519376091, -0.5429185598881531 ], [ -0.37947498522625617, -0.9252019971809036 ] ] }, { "task_id": "0000577", "id": "RH20T_cfg6_task_0129_user_0014_scene_0008_cfg_0006_104122064161#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the bulb holder with a bulb from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000577/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9284208575192441, 0.37153022935318697 ], [ 0.35391816750885297, -0.935276392681423 ], [ -0.31622776596683794, 0.9486832979005138 ], [ -0.9066780642593145, -0.4218232897683368 ] ] }, { "task_id": "0000578", "id": "RH20T_cfg6_task_0107_user_0020_scene_0003_cfg_0006_104122064161#122", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000578/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998333333 ], [ 0.9953289592725778, -0.09654150834416868 ], [ 0.10158289985372591, -0.9948270776659167 ], [ -0.9984098160760521, -0.05637232621583117 ] ] }, { "task_id": "0000579", "id": "RH20T_cfg1_task_0022_user_0001_scene_0006_cfg_0001_035622060973#165", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000579/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ 0.01447345017539485, -0.999895254134162 ], [ -0.9911594360858348, -0.13267619326017063 ], [ -0.15036227975938354, 0.98863096493361 ] ] }, { "task_id": "0000580", "id": "RH20T_cfg4_task_0217_user_0014_scene_0001_cfg_0004_038522062288#327", "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 lamp holder from the workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000580/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.02959928338842458, -0.9995618452216409 ], [ -0.9912035615826282, -0.13234613521336058 ], [ -0.12532198976499123, 0.9921161216719258 ], [ 0.9999999996666666, 0.0 ] ] }, { "task_id": "0000581", "id": "RH20T_cfg4_task_0021_user_0016_scene_0004_cfg_0004_038522062288#104", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000581/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5892624557746424, -0.8079416799586698 ], [ 0.7071067810865475, 0.7071067810865475 ], [ -0.7200998792146803, -0.6938704230294032 ], [ -0.6177847669278447, 0.7863472399340566 ] ] }, { "task_id": "0000582", "id": "RH20T_cfg6_task_0035_user_0014_scene_0002_cfg_0006_104122064161#93", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000582/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996585136987918, 0.02613151334160863 ], [ -0.14388686714857157, -0.9895941438095566 ], [ 0.0, 0.999999999875 ], [ -0.996096672274635, 0.08826901768683193 ] ] }, { "task_id": "0000583", "id": "RH20T_cfg4_task_0080_user_0015_scene_0001_cfg_0004_038522062288#120", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000583/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14936446196423991, -0.9887822093373916 ], [ -0.9992097231463651, -0.03974832285473738 ], [ 0.9999999998333333, 0.0 ], [ 0.07055748968858341, 0.9975077145811182 ] ] }, { "task_id": "0000584", "id": "RH20T_cfg3_task_0029_user_0011_scene_0009_cfg_0003_104122062823#191", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000584/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9944221350223321, -0.10547330172904804 ], [ -0.3362762305591553, -0.941763397441696 ], [ -0.9660133510410934, 0.2584921770776771 ], [ 0.21693045779512676, 0.9761870600780704 ] ] }, { "task_id": "0000585", "id": "RH20T_cfg4_task_0217_user_0010_scene_0007_cfg_0004_104122062823#141", "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 lamp holder from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000585/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7985317151102101, 0.6019527389780249 ], [ 0.724596760531949, -0.6891730803119095 ], [ -0.6038455938025528, -0.7971013102769575 ] ] }, { "task_id": "0000586", "id": "RH20T_cfg1_task_0001_user_0005_scene_0005_cfg_0001_750612070853#53", "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 red button 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000586/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3851851301344481, 0.9228393227010367 ], [ -0.8682431420885618, -0.49613893833632106 ], [ 0.8124435070175162, 0.5830399196496576 ], [ 0.45657221640601864, -0.8896863555242913 ] ] }, { "task_id": "0000587", "id": "RH20T_cfg2_task_0052_user_0016_scene_0002_cfg_0002_037522062165#218", "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 green 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000587/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7964465029824674, -0.6047089943824208 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.6668388075896914, -0.7452019891897489 ], [ -0.7431023323760844, 0.6691777967156588 ] ] }, { "task_id": "0000588", "id": "RH20T_cfg6_task_0024_user_0014_scene_0001_cfg_0006_104122064161#47", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000588/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999998, 0.0 ], [ -0.10081897002338422, 0.9949047870441794 ], [ 0.991737384056547, 0.12828468756900435 ], [ -0.08104707675678109, -0.9967102745277489 ] ] }, { "task_id": "0000589", "id": "RH20T_cfg4_task_0222_user_0014_scene_0002_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000589/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33282011771667597, 0.9429903335305818 ], [ 0.9821463388934786, -0.18811849722485144 ], [ -0.46113901585793843, -0.8873279033444018 ], [ -0.9114729916653542, 0.4113599220446847 ] ] }, { "task_id": "0000590", "id": "RH20T_cfg1_task_0051_user_0014_scene_0002_cfg_0001_750612070853#25", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000590/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8375770176271183, 0.5463192652129907 ], [ 0.412994233375719, 0.9107336400937446 ], [ -0.4740998230029074, -0.8804710998625422 ], [ 0.9144749041329127, -0.4046426197412974 ] ] }, { "task_id": "0000591", "id": "RH20T_cfg3_task_0073_user_0010_scene_0009_cfg_0003_038522062288#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'pick up the small block on the marble 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000591/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9744061387611732, -0.22479474358743612 ], [ -0.24372392877880858, -0.9698446507253738 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.9805332202966259, 0.1963532630101385 ] ] }, { "task_id": "0000592", "id": "RH20T_cfg6_task_0028_user_0014_scene_0001_cfg_0006_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000592/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1414213562173095, 0.9899494935211665 ], [ 0.9971827314186332, -0.07501066697793095 ], [ -0.08898738446524695, -0.9960327531793491 ], [ -0.9629516837851665, 0.26967397852835695 ] ] }, { "task_id": "0000594", "id": "RH20T_cfg5_task_0001_user_0010_scene_0004_cfg_0005_104122063678#627", "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 red button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000594/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999856634298621, 0.016932538174577794 ], [ 0.0, 0.9999999995 ], [ -0.10604928206009934, -0.9943608750220101 ], [ -0.9999268441554737, -0.012095715657832585 ] ] }, { "task_id": "0000595", "id": "RH20T_cfg5_task_0078_user_0007_scene_0006_cfg_0005_104122063678#278", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the position of closing the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000595/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38644369505334486, 0.9223130003168759 ], [ 0.9414743142985015, -0.33708473047019866 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.45331484043370135, -0.8913504672364108 ] ] }, { "task_id": "0000596", "id": "RH20T_cfg6_task_0032_user_0020_scene_0007_cfg_0006_104122064161#151", "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 on top of 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000596/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.720741905913259, -0.693203509123059 ], [ -0.7079126272779219, -0.7063000156735593 ], [ -0.656017133312633, 0.7547459975384269 ] ] }, { "task_id": "0000597", "id": "RH20T_cfg2_task_0001_user_0006_scene_0005_cfg_0002_037522062165#283", "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 red button on the gray 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000597/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7792215444204572, -0.6267485817383216 ], [ 0.5368754921519828, -0.8436614876674016 ], [ -0.6051353312110828, 0.796122623042489 ], [ 0.8641279391641224, 0.5032721974796213 ] ] }, { "task_id": "0000598", "id": "RH20T_cfg7_task_0039_user_0014_scene_0002_cfg_0007_104122064161#109", "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 first 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000598/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8628659003661395, -0.5054329213509261 ], [ -0.3888169414575956, -0.9213150308312357 ], [ 0.4961389382952954, 0.8682431420167669 ], [ -0.82745055547172, 0.5615385812653857 ] ] }, { "task_id": "0000599", "id": "RH20T_cfg1_task_0044_user_0001_scene_0003_cfg_0001_750612070853#30", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000599/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981581926909194, -0.060664836305700125 ], [ -0.009966659235892536, -0.9999503316183638 ], [ -0.9988246370938234, 0.0484700354280039 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000600", "id": "RH20T_cfg3_task_0013_user_0011_scene_0009_cfg_0003_104122062823#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the white base of the green button on the scale', and now you are performing subtask 'pick up the green button base 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000600/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5512343808347844, -0.8343504403940181 ], [ -0.7958841340479486, -0.6054489616563457 ], [ 0.7772448706787184, 0.6291982286446768 ], [ -0.6541446711771304, 0.7563694528274949 ] ] }, { "task_id": "0000601", "id": "RH20T_cfg4_task_0013_user_0010_scene_0004_cfg_0004_104122062823#89", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000601/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8570220748930625, -0.5152796940943724 ], [ -0.520992905595156, -0.8535610067941933 ], [ 0.6246950475056438, 0.7808688093820547 ], [ -0.6750910517510744, 0.7377344182330308 ] ] }, { "task_id": "0000602", "id": "RH20T_cfg4_task_0200_user_0017_scene_0002_cfg_0004_104122062823#390", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000602/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7592566022829437, 0.6507913733853803 ], [ 0.6661465928595568, 0.7458208342635676 ], [ 0.8487763042378488, -0.5287521019951966 ], [ -0.5922042929849349, -0.8057878600290609 ] ] }, { "task_id": "0000603", "id": "RH20T_cfg4_task_0110_user_0015_scene_0001_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the pencil out from the pencil sharpener', and now you are performing subtask 'take the pencil out from the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000603/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5199469468764348, 0.8541985555827144 ], [ 0.7847271033274074, -0.6198414098004236 ], [ -0.4182854482509087, -0.9083156300436189 ], [ -0.8645960269251892, 0.5024676210714253 ] ] }, { "task_id": "0000604", "id": "RH20T_cfg1_task_0052_user_0001_scene_0005_cfg_0001_750612070853#68", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000604/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956123821003767, -0.09357341827898288 ], [ 0.08304547984684342, 0.996545758162121 ], [ -0.011896658693046064, -0.9999292322519335 ], [ -0.9860485948298837, 0.16645770824450223 ] ] }, { "task_id": "0000606", "id": "RH20T_cfg4_task_0062_user_0015_scene_0008_cfg_0004_104122062823#247", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000606/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3162277659835046, 0.9486832979505138 ], [ 0.9245929323902355, -0.38095657150655005 ], [ -0.18587480489250136, -0.9825734358846542 ], [ -0.9091928089981455, 0.4163753547774673 ] ] }, { "task_id": "0000607", "id": "RH20T_cfg4_task_0105_user_0015_scene_0004_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the transparent box on the table', and now you are performing subtask 'pick up the transparent box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000607/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9962276395881727, 0.08677839662368719 ], [ 0.07853247247705214, -0.9969115561405841 ], [ -0.1643989872918438, 0.9863939237510627 ], [ -0.9892185762434028, -0.14644660602067586 ] ] }, { "task_id": "0000608", "id": "RH20T_cfg7_task_0048_user_0020_scene_0002_cfg_0007_104122064161#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000608/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999998 ], [ -0.9944644507926323, -0.10507357474507172 ], [ 0.09209920293097565, 0.9957498364647012 ], [ 0.9978252974055899, -0.06591415521301956 ] ] }, { "task_id": "0000609", "id": "RH20T_cfg4_task_0110_user_0007_scene_0007_cfg_0004_104122062823#139", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000609/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3561003001383288, -0.93444773863571 ], [ -0.9574202295374041, -0.28869794608300314 ], [ -0.3133310965769754, 0.9496439458649069 ], [ 0.9486832979755138, 0.31622776599183794 ] ] }, { "task_id": "0000610", "id": "RH20T_cfg6_task_0078_user_0014_scene_0009_cfg_0006_104122064161#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'press the microwave door to close the door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000610/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9992095732905087, 0.039752089814241054 ], [ -0.09041522450309462, -0.9959041556184285 ], [ -0.9907522369908716, -0.1356834731925156 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000611", "id": "RH20T_cfg2_task_0014_user_0006_scene_0006_cfg_0002_037522062165#206", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000611/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9701424999100378, 0.24253562497750944 ], [ 0.32467771251995614, 0.9458247105002113 ], [ 0.9720009219944359, -0.23497703641412823 ], [ -0.37839351387611325, -0.9256448285689753 ] ] }, { "task_id": "0000612", "id": "RH20T_cfg4_task_0044_user_0014_scene_0002_cfg_0004_104122062823#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000612/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0049320644010925506, 0.9999878372964062 ], [ -0.99999999975, 0.0 ], [ 0.9922428074826312, -0.12431496691463269 ], [ 0.008659267712852315, -0.9999625078385076 ] ] }, { "task_id": "0000614", "id": "RH20T_cfg5_task_0045_user_0010_scene_0010_cfg_0005_104122063678#292", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the brush', and now you are performing subtask 'pick up the brush 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000614/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9915803025150509, 0.1294932572150384 ], [ -0.07255373999307818, -0.9973645044882121 ], [ -0.9994647067439466, 0.03271543937098932 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000615", "id": "RH20T_cfg5_task_0029_user_0010_scene_0007_cfg_0005_104122063678#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull open the drawer', and now you are performing subtask 'pull the drawer out'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000615/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3162277659835046, 0.9486832979505138 ], [ 0.914332859696126, -0.40496348190905374 ], [ -0.17526758782719784, -0.9845208340391967 ], [ -0.9090230174513136, 0.4167459102903218 ] ] }, { "task_id": "0000616", "id": "RH20T_cfg1_task_0083_user_0015_scene_0001_cfg_0001_750612070853#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000616/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08304547984684342, 0.996545758162121 ], [ 0.9989092443140468, -0.046693914206670455 ], [ -0.04256754744896038, -0.999093591163601 ], [ -0.9877743469455308, 0.15589047282092078 ] ] }, { "task_id": "0000617", "id": "RH20T_cfg4_task_0080_user_0007_scene_0001_cfg_0004_104122062823#166", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000617/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9962114338387471, -0.08696424028845225 ], [ -0.2834132207105647, -0.9589978865078196 ], [ -0.9818305036947398, 0.18976001163188636 ], [ 0.1643989872918438, 0.9863939237510627 ] ] }, { "task_id": "0000618", "id": "RH20T_cfg6_task_0059_user_0014_scene_0009_cfg_0006_104122064161#235", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob', and now you are performing subtask 'twist the knob 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000618/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.999984506981199, 0.005566488800694109 ], [ -0.037383844336277366, -0.9993009797766842 ], [ -0.999606276731216, -0.02805871557209112 ] ] }, { "task_id": "0000619", "id": "RH20T_cfg2_task_0020_user_0003_scene_0003_cfg_0002_037522062165#163", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000619/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.47605925562961743, -0.87941320500057 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9255579078912665, 0.3786060738286458 ], [ 0.3291352346878675, 0.9442827951874175 ] ] }, { "task_id": "0000620", "id": "RH20T_cfg5_task_0014_user_0007_scene_0007_cfg_0005_104122063678#201", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the object from the scale and place it on top of the large block next to the scale', and now you are performing subtask 'pick up the object on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000620/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9906444112936349, 0.13646849589809193 ], [ -0.06886593857475468, -0.9976259231316206 ], [ 0.0, 0.9999999989999999 ], [ -0.9894455029118889, 0.14490547528454295 ] ] }, { "task_id": "0000621", "id": "RH20T_cfg6_task_0012_user_0014_scene_0006_cfg_0006_104122064161#48", "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 from the center of the table towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000621/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12403473457382384, 0.9922778765905907 ], [ 0.9988677262715733, 0.04757378913916052 ], [ 0.15097977243804586, -0.9885368522794463 ], [ -0.9644989100581828, -0.26408682757111834 ] ] }, { "task_id": "0000622", "id": "RH20T_cfg7_task_0039_user_0020_scene_0008_cfg_0007_104122064161#120", "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 of water on the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000622/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998331276686329, 0.057746532275490425 ], [ 0.1191377690098714, -0.9928777326515841 ], [ 0.0, 0.9999999989999999 ], [ -0.9996066452123463, -0.028045585166270637 ] ] }, { "task_id": "0000623", "id": "RH20T_cfg2_task_0005_user_0002_scene_0004_cfg_0002_104122061850#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block a little forward', and now you are performing subtask 'push the small square a little bit forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000623/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07284347907941886, -0.9973433849761105 ], [ -0.9910356394545901, 0.1335977594528884 ], [ 0.9999999989999999, 0.0 ], [ -0.11184737327317922, 0.9937253972259591 ] ] }, { "task_id": "0000624", "id": "RH20T_cfg5_task_0060_user_0007_scene_0002_cfg_0005_104122063678#276", "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 'turn the knob on the speaker to lower 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000624/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996046337102322, 0.0888352089266841 ], [ 0.14371791255833105, -0.9896186950587968 ], [ -0.9885492699079262, -0.15089844586511195 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000625", "id": "RH20T_cfg6_task_0051_user_0014_scene_0001_cfg_0006_104122064161#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the dish off the dish rack', and now you are performing subtask 'grab the small basket from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000625/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6845810425419618, -0.7289367573336939 ], [ -0.5273082133305048, -0.849674083489776 ], [ -0.7200474765380994, 0.6939248025046483 ], [ 0.6178215518972031, 0.7863183387782585 ] ] }, { "task_id": "0000626", "id": "RH20T_cfg6_task_0083_user_0007_scene_0008_cfg_0006_104122064161#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter at the black circle', and now you are performing subtask 'pick up the flyswatter 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000626/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8284226312517642, -0.5601035118885648 ], [ -0.5412961113788064, -0.8408320401876839 ], [ -0.7940206034175725, 0.6078908465739504 ], [ 0.6401843995825127, 0.7682212794990152 ] ] }, { "task_id": "0000627", "id": "RH20T_cfg7_task_0025_user_0014_scene_0004_cfg_0007_104122064161#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfolded paper', and now you are performing subtask 'unfold the folded paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000627/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8146993285234602, -0.5798836125494693 ], [ -0.5712150343800535, -0.82080045351973 ], [ -0.9301144625368302, 0.3672697735722661 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000628", "id": "RH20T_cfg3_task_0021_user_0010_scene_0001_cfg_0003_038522062288#254", "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 it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000628/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4600533543376178, 0.8878912721514423 ], [ 0.9200705587608253, -0.39175268588937945 ], [ -0.9486832977505137, 0.31622776591683793 ], [ -0.2659469093078249, -0.9639876770112861 ] ] }, { "task_id": "0000629", "id": "RH20T_cfg5_task_0089_user_0007_scene_0007_cfg_0005_104122063678#205", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block around the piggy bank to behind the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000629/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11050830485135145, -0.9938752006961844 ], [ -0.9962096663663208, -0.08698448504362062 ], [ 0.0863351137734244, 0.9962661532591227 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0000630", "id": "RH20T_cfg4_task_0091_user_0007_scene_0008_cfg_0004_104122062823#188", "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 from the left 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000630/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07910617035005282, -0.9968661965442245 ], [ -0.9948697071356908, 0.10116454825552676 ], [ 0.9999999989999999, 0.0 ], [ 0.056211541539190335, 0.998418881330771 ] ] }, { "task_id": "0000631", "id": "RH20T_cfg6_task_0010_user_0014_scene_0010_cfg_0006_104122064161#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the handset of the telephone on the phone cradle', and now you are performing subtask 'pick up the telephone handset 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000631/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9538932145576268, -0.30014618974912477 ], [ -0.14442783958692965, -0.989515335481089 ], [ -0.9941633125885159, 0.10788562417221739 ], [ 0.20952908871623932, 0.9778024140091168 ] ] }, { "task_id": "0000632", "id": "RH20T_cfg4_task_0095_user_0014_scene_0006_cfg_0004_038522062288#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'pick up the photo frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000632/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.13305253761542693, -0.9911089860525407 ], [ -0.9993581853847716, 0.035822022618171 ], [ 0.12083963817656716, 0.992672041434308 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0000633", "id": "RH20T_cfg7_task_0046_user_0020_scene_0002_cfg_0007_104122064161#114", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000633/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.46051524355040024, 0.8876517957271959 ], [ 0.8399271684400851, -0.5426991355403297 ], [ -0.5305321507618311, -0.8476648140674624 ] ] }, { "task_id": "0000634", "id": "RH20T_cfg1_task_0002_user_0015_scene_0010_cfg_0001_750612070853#162", "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 position 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000634/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8939269489763602, -0.4482126837716843 ], [ -0.3340066629509629, -0.9425707130525337 ], [ 0.3939192985533056, 0.919145029957713 ], [ -0.8925522870439099, 0.4509439154625395 ] ] }, { "task_id": "0000635", "id": "RH20T_cfg4_task_0028_user_0016_scene_0001_cfg_0004_104122062823#70", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the handle of the drawer to the position of closing 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000635/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8142804739016272, 0.580471627060739 ], [ -0.5390536964052061, 0.8422714006331345 ], [ 0.5843390687362199, -0.8115096134664626 ], [ -0.8908759299848278, -0.45424671421339763 ] ] }, { "task_id": "0000636", "id": "RH20T_cfg3_task_0088_user_0010_scene_0001_cfg_0003_104122062823#329", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move to the block', and now you are performing subtask 'pick up the block behind the frame'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000636/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999988, 0.79999999984 ], [ 0.8429617597947565, 0.5379734858928711 ], [ 0.47048793405753614, -0.8824064278473223 ], [ -0.8200787028597285, -0.5722507502099977 ] ] }, { "task_id": "0000637", "id": "RH20T_cfg4_task_0103_user_0014_scene_0020_cfg_0004_104122062823#135", "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 'transfer the plate from the left side of the table to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000637/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9479501239822011, -0.3184188474982749 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.4162329598451373, -0.9092580069147351 ], [ -0.9517625076133994, 0.3068356711685491 ] ] }, { "task_id": "0000638", "id": "RH20T_cfg1_task_0008_user_0001_scene_0009_cfg_0001_819112070044#283", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000638/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6593445377314469, 0.7518409276992738 ], [ 0.5897788982542803, -0.8075647659314807 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6493533049172452, -0.7604868739123979 ] ] }, { "task_id": "0000639", "id": "RH20T_cfg1_task_0123_user_0014_scene_0007_cfg_0001_819112070044#227", "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 from the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000639/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7083468096494185, 0.7058645743055042 ], [ 0.6294999705153327, -0.7770005065128306 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7701356627627945, -0.6378801305424956 ] ] }, { "task_id": "0000640", "id": "RH20T_cfg1_task_0043_user_0014_scene_0002_cfg_0001_750612070853#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrew the lid from the bottle', and now you are performing subtask 'twist the lid counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000640/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9980228357668944, -0.06285236103605295 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.29599794586928707, -0.9551885761676396 ], [ -0.996251308389091, 0.08650624563015183 ] ] }, { "task_id": "0000641", "id": "RH20T_cfg4_task_0105_user_0007_scene_0002_cfg_0004_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000641/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14246319640412833, -0.9898000998536618 ], [ -0.997441220780831, -0.07149133574948659 ], [ -0.0951153179356336, 0.9954662607512137 ], [ 0.9999999998333333, 0.0 ] ] }, { "task_id": "0000642", "id": "RH20T_cfg4_task_0062_user_0007_scene_0010_cfg_0004_104122062823#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toilet paper on the holder', and now you are performing subtask 'pick up the tissue from the front 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000642/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9947832224396636, 0.10201147167137038 ], [ 0.3104210536200579, -0.950599163406645 ], [ -0.19611613511895326, 0.9805806755947664 ], [ -0.9595607283328592, -0.2815017027325286 ] ] }, { "task_id": "0000643", "id": "RH20T_cfg4_task_0020_user_0014_scene_0007_cfg_0004_038522062288#335", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000643/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9935539305360328, 0.11336043011739229 ], [ 0.021226631422726683, -0.999774689676851 ], [ -0.08662961636108965, 0.9962405881525309 ], [ -0.9993607541092804, 0.035750288755903956 ] ] }, { "task_id": "0000644", "id": "RH20T_cfg4_task_0015_user_0010_scene_0008_cfg_0004_104122062823#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000644/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.9564733842993943, 0.291819576325618 ], [ 0.3626322112146376, -0.9319323362721044 ], [ -0.9400644508629203, -0.34099681556254474 ] ] }, { "task_id": "0000645", "id": "RH20T_cfg4_task_0014_user_0016_scene_0010_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the object from the scale and place it on the table', and now you are performing subtask 'pick up the block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000645/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832979005138, -0.31622776596683794 ], [ -0.3208788155315117, 0.9471202593879482 ], [ 0.9686814447679719, 0.24830678315792062 ], [ 0.44428855200676254, -0.8958837438840679 ] ] }, { "task_id": "0000646", "id": "RH20T_cfg4_task_0068_user_0007_scene_0006_cfg_0004_104122062823#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press a button on the obstacle horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000646/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8999834956605629, -0.4359239699059844 ], [ -0.4909233902039259, -0.8712027461794896 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.9145151507205433, 0.4045516519587852 ] ] }, { "task_id": "0000647", "id": "RH20T_cfg6_task_0096_user_0020_scene_0004_cfg_0006_104122064161#156", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000647/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6322322969229008, -0.7747788863460291 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7915782655197456, -0.6110677945668149 ], [ -0.635104077996682, 0.7724265726345673 ] ] }, { "task_id": "0000648", "id": "RH20T_cfg4_task_0120_user_0007_scene_0002_cfg_0004_104122062823#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing a light bulb by rotating it', and now you are performing subtask 'pick up the light bulb on the lamp holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000648/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08304547984684342, 0.996545758162121 ], [ 0.9976404932180777, -0.06865454312418609 ], [ 0.06612702013806043, -0.9978112132100243 ], [ -0.9740799858175778, 0.22620384883911138 ] ] }, { "task_id": "0000649", "id": "RH20T_cfg4_task_0074_user_0007_scene_0006_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the red button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000649/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7270131525204536, 0.686623532935984 ], [ 0.691312096139371, -0.7225562855109554 ], [ -0.6991022665458756, -0.7150216926152797 ], [ -0.7765642483916347, 0.6300380687862723 ] ] }, { "task_id": "0000651", "id": "RH20T_cfg4_task_0053_user_0014_scene_0001_cfg_0004_038522062288#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp in the plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000651/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9183454971466755, -0.39577967086552795 ], [ 0.3303504247125159, 0.943858356321474 ], [ -0.20199315852348346, -0.9793869326827406 ], [ -0.932898204001034, 0.36014016850616004 ] ] }, { "task_id": "0000652", "id": "RH20T_cfg2_task_0017_user_0006_scene_0003_cfg_0002_037522062165#445", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000652/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.047001944595312484, -0.9988947978662515 ], [ -0.9963144905696144, 0.08577549697326006 ], [ 0.9999999995, 0.0 ], [ -0.05727925821731479, 0.9983581955280751 ] ] }, { "task_id": "0000653", "id": "RH20T_cfg4_task_0094_user_0015_scene_0007_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid on the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000653/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.32890536211954047, -0.9443628872255697 ], [ -0.9214017823750573, -0.38861131665980536 ], [ -0.3235858058178119, 0.9461988302007339 ] ] }, { "task_id": "0000654", "id": "RH20T_cfg6_task_0089_user_0020_scene_0007_cfg_0006_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block around the golden pig', and now you are performing subtask 'push the block around the golden pig'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000654/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0534682351186496, -0.9985695508242262 ], [ -0.9548960210561637, 0.29694037948905955 ], [ 0.23883271315169707, 0.9710607267975567 ], [ 0.9863939236699816, -0.16439898727833027 ] ] }, { "task_id": "0000655", "id": "RH20T_cfg4_task_0082_user_0015_scene_0001_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer with a large spoon from a white bowl to a red bowl', and now you are performing subtask 'pick up the large spoon 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000655/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9882027031012913, 0.15315161632611435 ], [ -0.1961161350997225, 0.9805806754986125 ], [ 0.11879035974029467, -0.992919357467046 ], [ -0.9991777489342918, -0.04054412453860078 ] ] }, { "task_id": "0000656", "id": "RH20T_cfg3_task_0071_user_0010_scene_0003_cfg_0003_104122062823#171", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull the sliding window to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000656/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7333881829993321, -0.6798101007170593 ], [ 0.5913636635957255, 0.8064049958123529 ], [ -0.6771671977308747, -0.7358291828388668 ], [ -0.8438922380821812, 0.5365127123420724 ] ] }, { "task_id": "0000658", "id": "RH20T_cfg6_task_0124_user_0020_scene_0003_cfg_0006_104122064161#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000658/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9433250237090722, -0.33187030545723495 ], [ -0.30820588614455785, -0.9513196790489766 ], [ -0.9162062135844774, 0.4007070927612776 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000659", "id": "RH20T_cfg7_task_0038_user_0020_scene_0001_cfg_0007_104122064161#108", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000659/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9879676759792361, 0.15466050310336896 ], [ -0.08223551353965339, -0.9966129240145691 ], [ -0.9970604251901577, 0.07661924379437746 ] ] }, { "task_id": "0000661", "id": "RH20T_cfg5_task_0064_user_0007_scene_0008_cfg_0005_104122063678#431", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000661/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6416444830796586, 0.7670021886105918 ], [ 0.6544144290058048, -0.7561360691760488 ], [ -0.7710494395124325, -0.636775283618612 ] ] }, { "task_id": "0000662", "id": "RH20T_cfg5_task_0025_user_0010_scene_0007_cfg_0005_104122063678#345", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (with one end weighed down)', and now you are performing subtask 'pick up the folded paper 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000662/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8826394276325982, 0.47005067895749225 ], [ 0.3231004134060551, 0.9463646880863827 ], [ -0.4472135953999579, -0.8944271907999158 ], [ 0.9150891474733254, -0.403251599099796 ] ] }, { "task_id": "0000663", "id": "RH20T_cfg3_task_0049_user_0010_scene_0002_cfg_0003_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 90 degrees counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000663/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, -0.4472135952999579 ], [ -0.3052887167290694, -0.952259838194344 ], [ -0.9497544783063148, 0.31299589603875017 ], [ 0.5252206733447596, 0.850966065299479 ] ] }, { "task_id": "0000664", "id": "RH20T_cfg4_task_0094_user_0015_scene_0001_cfg_0004_104122062823#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid of the blue box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000664/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9179346111289879, 0.39673170996464824 ], [ 0.5067020608211283, -0.862121233678664 ], [ -0.9215454856195355, -0.3882704185670787 ], [ -0.4472135954499579, 0.8944271908999158 ] ] }, { "task_id": "0000665", "id": "RH20T_cfg4_task_0109_user_0007_scene_0008_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000665/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9952234281091275, 0.097623399565455 ], [ 0.0940237814615388, 0.9955699515954028 ], [ 0.9970672482564993, -0.07653040215634879 ], [ 0.0, -0.99999999995 ] ] }, { "task_id": "0000666", "id": "RH20T_cfg5_task_0044_user_0007_scene_0005_cfg_0005_104122063678#371", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the package from the desktop and place it to the left of its original position', and now you are performing subtask 'pick up the package 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000666/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5809776266765696, 0.8139195275340557 ], [ 0.9115633877864453, -0.41115956762222966 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.44541074775161366, -0.8953263459696406 ] ] }, { "task_id": "0000667", "id": "RH20T_cfg2_task_0072_user_0014_scene_0003_cfg_0002_105422061350#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin on the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000667/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8765778930121204, 0.481260010267248 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.5359881393735445, -0.8442255116086493 ], [ -0.8343890616987042, -0.5511759190290847 ] ] }, { "task_id": "0000668", "id": "RH20T_cfg6_task_0050_user_0014_scene_0004_cfg_0006_104122064161#86", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000668/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9817138627770037, 0.19036252685719016 ], [ -0.12403473457382384, 0.9922778765905907 ], [ 0.07363255451895609, -0.9972854390368953 ], [ -0.9927535334489129, -0.12016830624044776 ] ] }, { "task_id": "0000669", "id": "RH20T_cfg4_task_0015_user_0010_scene_0004_cfg_0004_104122062823#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick from one side of the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000669/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8554083417102195, 0.5179542150929679 ], [ -0.4472135953999579, 0.8944271907999158 ], [ 0.4076306401875366, -0.9131469001098887 ], [ -0.902612773964428, -0.4304534588968249 ] ] }, { "task_id": "0000670", "id": "RH20T_cfg6_task_0052_user_0014_scene_0009_cfg_0006_104122063633#96", "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 on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000670/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994466063552011, 0.03326380984000316 ], [ -0.053798287866435465, -0.998551823503738 ], [ -0.9991899117248022, 0.040243264124348956 ], [ 0.04540766091658813, 0.9989685401649389 ] ] }, { "task_id": "0000672", "id": "RH20T_cfg2_task_0001_user_0007_scene_0010_cfg_0002_037522062165#91", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000672/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9986251390934942, -0.052419763167143585 ], [ 0.07670011214337204, -0.9970542075520238 ], [ -0.9998986204423395, 0.014238990045167736 ] ] }, { "task_id": "0000673", "id": "RH20T_cfg4_task_0200_user_0010_scene_0002_cfg_0004_104122062823#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000673/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9237331879144568, 0.38303654857649666 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5395519732189321, -0.8419522956768731 ], [ -0.9486648299051686, -0.3162831650609903 ] ] }, { "task_id": "0000674", "id": "RH20T_cfg6_task_0085_user_0007_scene_0008_cfg_0006_104122064161#112", "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 assembled bubble ring [position]'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000674/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9599279334392181, 0.28024696716130937 ], [ 0.2636624093107137, -0.9646150185003702 ], [ -0.3713906762851382, 0.9284766907128456 ], [ -0.9068512186727944, -0.42145090721419454 ] ] }, { "task_id": "0000675", "id": "RH20T_cfg5_task_0035_user_0007_scene_0003_cfg_0005_104122063678#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block from behind the table to the center', and now you are performing subtask 'pick up the small block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000675/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9933533963049981, -0.11510443105860677 ], [ 0.0, 0.9999999989999999 ], [ 0.03283426279847945, -0.9994608102304364 ], [ -0.9983493484595183, 0.05743325195786364 ] ] }, { "task_id": "0000676", "id": "RH20T_cfg3_task_0062_user_0010_scene_0010_cfg_0003_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the toilet paper towards the holder', and now you are performing subtask 'pick up the tissue on the tablecloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000676/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9573189714674457, 0.28903353934883014 ], [ 0.5098223568841292, -0.8602797012722733 ], [ -0.40613846601221054, 0.9138115485274737 ], [ -0.9621702618816239, -0.2724488707090697 ] ] }, { "task_id": "0000677", "id": "RH20T_cfg4_task_0107_user_0015_scene_0004_cfg_0004_104122062823#151", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000677/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.18673427143232788, 0.9824104599772122 ], [ 0.9973948538736609, -0.07213532745013884 ], [ -0.993150604293866, 0.11684124756398424 ], [ -0.14688986269914117, -0.9891528538280762 ] ] }, { "task_id": "0000678", "id": "RH20T_cfg4_task_0107_user_0015_scene_0004_cfg_0004_104122062823#264", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000678/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6072155594491955, -0.7945371384414958 ], [ -0.7747275527025839, -0.6322951993202741 ], [ 0.8619342151140676, 0.5070201265376869 ], [ -0.3831883277752102, 0.9236702363164238 ] ] }, { "task_id": "0000681", "id": "RH20T_cfg4_task_0102_user_0014_scene_0014_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush from the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000681/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3466501408645603, 0.9379944988099868 ], [ 0.8813450772692831, -0.47247312597988195 ], [ -0.3438105479045342, -0.9390390338796274 ], [ -0.9670303208587865, 0.254661262346185 ] ] }, { "task_id": "0000682", "id": "RH20T_cfg2_task_0014_user_0003_scene_0004_cfg_0002_037522062165#133", "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 orange object on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000682/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, -0.9701424999100378 ], [ -0.9319897193810028, -0.36248470721965587 ], [ -0.10622786860043222, 0.9943418124229763 ], [ 0.9336373882778333, 0.3582195237696381 ] ] }, { "task_id": "0000683", "id": "RH20T_cfg3_task_0032_user_0010_scene_0002_cfg_0003_104122062823#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 into the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000683/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8574929255654853, 0.5144957553392911 ], [ 0.49406051120863065, 0.8694275192701613 ], [ 0.8884392795492606, -0.45899416832242096 ], [ -0.6355575817138377, -0.7720534698620676 ] ] }, { "task_id": "0000684", "id": "RH20T_cfg6_task_0205_user_0007_scene_0009_cfg_0006_104122064161#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife from the rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000684/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9287173481437748, -0.37078846699539453 ], [ -0.3025507877665551, -0.9531332649854568 ], [ 0.3939192985274435, 0.9191450298973682 ], [ -0.8834386584530403, 0.46854683517306184 ] ] }, { "task_id": "0000685", "id": "RH20T_cfg2_task_0028_user_0003_scene_0003_cfg_0002_037522062165#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000685/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7365615271303007, -0.6763705469278503 ], [ 0.7071067806865474, -0.7071067806865474 ], [ -0.7759843667351852, 0.6307521403709967 ], [ 0.6274036531832463, 0.7786941992671558 ] ] }, { "task_id": "0000686", "id": "RH20T_cfg4_task_0329_user_0014_scene_0003_cfg_0004_038522062288#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000686/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776599183794, 0.9486832979755138 ], [ 0.956245372633827, 0.2925658683380433 ], [ 0.3127764470041171, -0.9498267706268764 ], [ -0.9413633073627504, -0.33739461102848695 ] ] }, { "task_id": "0000687", "id": "RH20T_cfg3_task_0043_user_0010_scene_0004_cfg_0003_104122062823#218", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the jar', and now you are performing subtask 'twist the lid 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000687/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2267564203852199, 0.9739515007504642 ], [ -0.9958932064226218, 0.09053574603842017 ], [ 0.9915078136956167, -0.13004712753666686 ], [ -0.05455808631499185, -0.998510598450335 ] ] }, { "task_id": "0000688", "id": "RH20T_cfg6_task_0001_user_0020_scene_0009_cfg_0006_104122064161#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000688/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9645087088548672, -0.2640510377618638 ], [ -0.1174008482395089, -0.9930846091006766 ], [ -0.9998703406890532, -0.01610285100088069 ], [ 0.11043152606265141, 0.9938837345638627 ] ] }, { "task_id": "0000689", "id": "RH20T_cfg4_task_0064_user_0015_scene_0010_cfg_0004_104122062823#135", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000689/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8316209832867542, 0.5553436234955544 ], [ 0.637457344702818, -0.7704856479418891 ], [ -0.6726727939510636, 0.73994007334617 ], [ -0.6588504874243396, -0.75227390970358 ] ] }, { "task_id": "0000690", "id": "RH20T_cfg4_task_0101_user_0007_scene_0012_cfg_0004_104122062823#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000690/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9941849584566675, 0.10768597113140736 ], [ 0.10153265693360292, -0.9948322067444355 ], [ -0.9986505185500985, -0.051934013898595185 ], [ 0.0, 0.9999999999166667 ] ] }, { "task_id": "0000691", "id": "RH20T_cfg7_task_0015_user_0014_scene_0003_cfg_0007_104122064161#105", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000691/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810615475, 0.7071067810615475 ], [ 0.683071118373254, 0.7303518653664904 ], [ 0.6441307505458526, -0.7649154046044808 ], [ -0.7761668040211495, -0.630527630112745 ] ] }, { "task_id": "0000692", "id": "RH20T_cfg6_task_0052_user_0014_scene_0003_cfg_0006_104122063633#115", "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 on the green surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000692/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.98083467354867, -0.19484184141162758 ], [ -0.24302829246484015, -0.9700192003572012 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.9129091253971579, 0.4081628703919507 ] ] }, { "task_id": "0000693", "id": "RH20T_cfg4_task_0126_user_0010_scene_0008_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the plug into the socket', and now you are performing subtask 'pick up the plug 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000693/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3777589772908907, -0.9259039664436806 ], [ -0.9035475841405094, -0.42848776317865744 ], [ -0.3957585725081732, 0.9183545896255395 ], [ 0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0000694", "id": "RH20T_cfg4_task_0031_user_0016_scene_0002_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000694/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4111106525458962, -0.9115854492933109 ], [ -0.8670686521328435, -0.4981886715778813 ], [ 0.9333456061360492, 0.35897907928309586 ], [ -0.3062471864709131, 0.9519520265111314 ] ] }, { "task_id": "0000695", "id": "RH20T_cfg6_task_0039_user_0014_scene_0008_cfg_0006_104122064161#112", "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 with water located in the middle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000695/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8868266996851972, 0.46210215832157847 ], [ 0.5807355233725292, -0.8140922870861967 ], [ -0.44721359543329126, 0.8944271908665825 ], [ -0.870644136348764, -0.4919133946555176 ] ] }, { "task_id": "0000696", "id": "RH20T_cfg4_task_0111_user_0007_scene_0002_cfg_0004_104122062823#100", "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 red cylindrical object from the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000696/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9913719173872638, 0.13107906551352969 ], [ -0.2747211278785101, 0.9615239475747854 ], [ 0.3827368244897343, -0.9238574149615916 ], [ -0.986433515421389, -0.1641612611227157 ] ] }, { "task_id": "0000697", "id": "RH20T_cfg4_task_0109_user_0007_scene_0002_cfg_0004_104122062823#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000697/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9871121567326913, 0.16002996603928565 ], [ 0.19896362998151218, -0.9800068744374093 ], [ -0.9334657563218485, -0.3586665328330473 ], [ -0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0000698", "id": "RH20T_cfg7_task_0015_user_0020_scene_0009_cfg_0007_104122064161#148", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000698/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9504833914599703, -0.3107753570647986 ], [ -0.14994402677152305, -0.9886944871068822 ], [ -0.9659857858468321, 0.2585951692160514 ] ] }, { "task_id": "0000699", "id": "RH20T_cfg2_task_0013_user_0003_scene_0001_cfg_0002_037522062165#233", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000699/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5628538399117483, -0.8265564438661163 ], [ -0.8254459166760386, -0.5644812119485061 ], [ -0.5083790720890158, 0.8611333921419557 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0000700", "id": "RH20T_cfg6_task_0001_user_0014_scene_0009_cfg_0006_104122064161#98", "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 the top of the control box down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000700/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906762851382, 0.9284766907128456 ], [ 0.9718927006463006, -0.23542425200144607 ], [ -0.45229710938054246, -0.8918673246879301 ], [ -0.9272106365861883, 0.3745402987682843 ] ] }, { "task_id": "0000701", "id": "RH20T_cfg6_task_0129_user_0014_scene_0006_cfg_0006_104122064161#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the bulb holder with a bulb 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000701/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6566976414388694, -0.7541539681846315 ], [ -0.8543517167860436, -0.5196952414874895 ], [ -0.4738598567460928, 0.880600270363672 ], [ 0.8320502942801514, 0.5547001961867676 ] ] }, { "task_id": "0000702", "id": "RH20T_cfg4_task_0081_user_0007_scene_0002_cfg_0004_104122062823#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold the leg of the glasses', and now you are performing subtask 'fold the glasses frame outwards'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000702/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7113792205877583, -0.7028083696968568 ], [ -0.7128623621221791, 0.7013039659588324 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.6832866885477425, 0.7301501908877791 ] ] }, { "task_id": "0000703", "id": "RH20T_cfg4_task_0088_user_0015_scene_0001_cfg_0004_104122062823#328", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the square from the lower left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000703/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9814313566585602, 0.191813691292718 ], [ -0.31622776599183794, -0.9486832979755138 ], [ 0.24346467038353917, 0.9699097660478704 ], [ 0.8971276484300542, -0.4417714142204779 ] ] }, { "task_id": "0000704", "id": "RH20T_cfg4_task_0035_user_0016_scene_0002_cfg_0004_104122062823#77", "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 square on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000704/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7634388975147677, -0.6458800583401193 ], [ -0.8042490683654312, -0.5942923826142616 ], [ -0.6246452905223497, 0.780908612468994 ], [ 0.707106781148086, 0.707106781148086 ] ] }, { "task_id": "0000705", "id": "RH20T_cfg4_task_0086_user_0015_scene_0007_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000705/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8575532177415751, 0.5143952553640738 ], [ 0.5255462448894562, -0.8507650348260627 ], [ -0.8797769634534224, -0.4753866790063386 ], [ -0.3939192985274435, 0.9191450298973682 ] ] }, { "task_id": "0000706", "id": "RH20T_cfg4_task_0222_user_0014_scene_0008_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000706/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9240436783549016, -0.38228690860706077 ], [ -0.3087486183075582, -0.9511436751054878 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.9254489909892679, 0.3788722279040073 ] ] }, { "task_id": "0000707", "id": "RH20T_cfg3_task_0044_user_0010_scene_0007_cfg_0003_104122062823#113", "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 of things 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000707/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3019334163622479, -0.9533290156519004 ], [ -0.9564425186879757, -0.29192072287832055 ], [ 0.9284766907128456, 0.3713906762851382 ], [ -0.27099637435365925, 0.9625803681185127 ] ] }, { "task_id": "0000708", "id": "RH20T_cfg2_task_0007_user_0013_scene_0007_cfg_0002_105422061350#358", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sweeping a small block with the gripper from right to left on the table', and now you are performing subtask 'slide a small block from the right side to the left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000708/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999335211791177, -0.011530534347156505 ], [ -0.08739877982831763, -0.9961734052284881 ], [ 0.0, 0.9999999998 ], [ -0.9959333620054078, 0.09009294336742084 ] ] }, { "task_id": "0000709", "id": "RH20T_cfg2_task_0078_user_0014_scene_0009_cfg_0002_105422061350#16", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000709/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4249688497624693, 0.9052079742973788 ], [ 0.8290918679218002, 0.5591123988483354 ], [ 0.43309677207826264, -0.9013474280294971 ], [ -0.8944271908999158, -0.4472135954499579 ] ] }, { "task_id": "0000710", "id": "RH20T_cfg6_task_0107_user_0020_scene_0001_cfg_0006_104122064161#136", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000710/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9629351303789496, 0.269733080437078 ], [ 0.41896414501152285, -0.908002778186699 ], [ -0.899399008156635, -0.43712861279818005 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000711", "id": "RH20T_cfg6_task_0042_user_0020_scene_0004_cfg_0006_104122064161#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid from the plane'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000711/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.999028030812173, 0.044079401669622396 ], [ -0.03620533379523994, 0.9993443719783363 ], [ 0.9951136656784926, 0.09873597307928529 ] ] }, { "task_id": "0000712", "id": "RH20T_cfg4_task_0014_user_0007_scene_0005_cfg_0004_104122062823#102", "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 jar on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000712/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9532581741745726, -0.30215700119202954 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.35520872286826755, -0.9347870148853664 ], [ -0.9263339901822708, 0.376703250096137 ] ] }, { "task_id": "0000713", "id": "RH20T_cfg4_task_0053_user_0014_scene_0007_cfg_0004_038522062288#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp from hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000713/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.060240283948034615, -0.9981839049943955 ], [ -0.9846840261249422, -0.17434841179194688 ], [ -0.0013560337332629388, 0.9999990805858345 ], [ 0.9899494936261665, 0.1414213562323095 ] ] }, { "task_id": "0000714", "id": "RH20T_cfg5_task_0118_user_0010_scene_0001_cfg_0005_104122063678#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'push the water tap 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000714/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9805806754986125, 0.1961161350997225 ], [ 0.053609282173374025, 0.998561988493882 ], [ 0.9543677201035807, -0.2986339813622915 ], [ -0.15940733800043919, -0.9872128952721463 ] ] }, { "task_id": "0000715", "id": "RH20T_cfg4_task_0015_user_0016_scene_0005_cfg_0004_104122062823#117", "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 right side of 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000715/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902061814272384, 0.13961274391432568 ], [ 0.15711175060182642, -0.9875808310324931 ], [ -0.9999623633289884, -0.008675939459472704 ], [ -0.1520571842423804, 0.9883716975754727 ] ] }, { "task_id": "0000716", "id": "RH20T_cfg4_task_0083_user_0015_scene_0005_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter on the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000716/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7816455337677698, -0.6237229028510163 ], [ -0.6054508321590916, -0.7958827111062682 ], [ -0.7598101250772751, 0.650145040610213 ], [ 0.6978647268976126, 0.7162295881317603 ] ] }, { "task_id": "0000717", "id": "RH20T_cfg5_task_0047_user_0007_scene_0006_cfg_0005_104122063678#290", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000717/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.8979103245680699, 0.44017842863327983 ], [ 0.5013328571002911, -0.8652545096049249 ], [ -0.9398956393137408, -0.34146183856913587 ] ] }, { "task_id": "0000718", "id": "RH20T_cfg4_task_0050_user_0014_scene_0008_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000718/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9090223273634288, -0.4167474155346081 ], [ 0.40613846601221054, 0.9138115485274737 ], [ -0.3232947753436336, -0.9462983082704468 ], [ -0.9523487574394155, 0.3050112197995369 ] ] }, { "task_id": "0000719", "id": "RH20T_cfg6_task_0015_user_0014_scene_0002_cfg_0006_104122064161#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the wooden stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000719/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9587038243014465, -0.2844063594046046 ], [ -0.3979268256633963, -0.9174171577954344 ], [ -0.9777641325449598, 0.20970765629466734 ] ] }, { "task_id": "0000720", "id": "RH20T_cfg4_task_0118_user_0007_scene_0007_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap to the right', and now you are performing subtask 'push the water tap to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000720/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8735319144145391, -0.4867668790080835 ], [ -0.3562187001849528, -0.9344026100341024 ], [ -0.9607964896557308, 0.2772545860129736 ], [ 0.35112344157469305, 0.9363291775325149 ] ] }, { "task_id": "0000721", "id": "RH20T_cfg2_task_0084_user_0014_scene_0004_cfg_0002_105422061350#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000721/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996940245573892, -0.02473574871011949 ], [ -0.10215477358612549, -0.9947685169091186 ], [ -0.9950186341639602, -0.09968910505409916 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0000722", "id": "RH20T_cfg6_task_0018_user_0014_scene_0010_cfg_0006_104122064161#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the Jenga block from the left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000722/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9509848088589257, 0.30923760010637874 ], [ 0.38916753693240486, -0.9211669925686468 ], [ -0.9566979253387372, -0.29108259936409114 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0000723", "id": "RH20T_cfg4_task_0042_user_0014_scene_0008_cfg_0004_104122062823#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (requires rotating)', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000723/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8398694538835109, -0.5427884490604172 ], [ 0.4472135954599579, 0.8944271909199158 ], [ -0.3089710687368973, -0.9510714372136194 ], [ -0.9113372575237225, 0.41166054346893677 ] ] }, { "task_id": "0000724", "id": "RH20T_cfg7_task_0020_user_0014_scene_0001_cfg_0007_104122064161#113", "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 'pick up the flag 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000724/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5299989399470002, 0.8479983039152004 ], [ 0.7835567834872516, -0.6213201807853278 ], [ -0.5445444177318818, -0.8387320055399375 ], [ -0.8546782985857089, 0.5191579778127634 ] ] }, { "task_id": "0000725", "id": "RH20T_cfg5_task_0041_user_0010_scene_0004_cfg_0005_104122063678#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the tabletop with a towel', and now you are performing subtask 'pick up the towel 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000725/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4956455834578966, 0.8685248733333325 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9238562938825916, -0.3827395305603049 ], [ -0.544780301009842, -0.8385788118189166 ] ] }, { "task_id": "0000726", "id": "RH20T_cfg3_task_0061_user_0010_scene_0003_cfg_0003_104122062823#133", "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 gift box 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000726/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9068946925385089, 0.4213573502924609 ], [ 0.3220492513218049, -0.9467229160229855 ], [ -0.9810235065035144, -0.19388883332350287 ], [ -0.3417430630575073, 0.939793423408145 ] ] }, { "task_id": "0000727", "id": "RH20T_cfg3_task_0061_user_0010_scene_0003_cfg_0003_104122062823#328", "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 block from the gift 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000727/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4961389382952954, 0.8682431420167669 ], [ 0.9276363529279288, -0.37348466732460545 ], [ -0.6087783636559294, -0.7933403455922364 ], [ -0.8857731789577215, 0.46411838515526654 ] ] }, { "task_id": "0000728", "id": "RH20T_cfg4_task_0067_user_0015_scene_0002_cfg_0004_104122062823#92", "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 from the top to the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000728/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35897907928309586, 0.9333456061360492 ], [ 0.9249707453151998, 0.380038314267185 ], [ 0.2587084070385621, -0.9659554648779465 ], [ -0.9041571969189194, -0.42719991018224984 ] ] }, { "task_id": "0000729", "id": "RH20T_cfg3_task_0070_user_0010_scene_0007_cfg_0003_038522062288#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pull the window 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000729/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9403720821960315, 0.34014753714572177 ], [ -0.1961161350997225, -0.9805806754986125 ], [ 0.054341104295839646, 0.9985224305862682 ], [ 0.9653379491395633, -0.26100314931245944 ] ] }, { "task_id": "0000730", "id": "RH20T_cfg2_task_0007_user_0013_scene_0001_cfg_0002_105422061350#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'slide a small block from the left side of the table to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000730/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13232020225382918, 0.9912070238227259 ], [ 0.9905630332856249, 0.13705793332741437 ], [ -0.9999999989999999, 0.0 ], [ -0.012772710005974774, -0.9999184256123613 ] ] }, { "task_id": "0000731", "id": "RH20T_cfg2_task_0096_user_0007_scene_0007_cfg_0002_105422061350#274", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000731/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.981135897934396, -0.19331929490991442 ], [ -0.24890969165096496, -0.9685266983424988 ], [ -0.927987698371818, 0.3726108313919171 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000733", "id": "RH20T_cfg6_task_0085_user_0007_scene_0004_cfg_0006_104122064161#231", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the bubble ring', and now you are performing subtask 'pick up the bubble ring on the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000733/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9898363004534904, -0.14221145630555818 ], [ -0.14474914610652548, -0.9894683848923278 ], [ 0.09950371901109793, 0.9950371901109792 ], [ -0.989809011148601, 0.14240126912716944 ] ] }, { "task_id": "0000734", "id": "RH20T_cfg7_task_0025_user_0020_scene_0005_cfg_0007_104122064161#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold the paper', and now you are performing subtask 'unfold the paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000734/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.79999999984, -0.59999999988 ], [ -0.4846555639070931, -0.8747050842277628 ], [ -0.7298163644356044, 0.6836432360537161 ], [ 0.5649985267243607, 0.8250919129401899 ] ] }, { "task_id": "0000735", "id": "RH20T_cfg7_task_0001_user_0014_scene_0002_cfg_0007_104122064161#79", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000735/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7563729519901633, -0.6541406251699142 ], [ -0.7212314667520436, -0.6926941398385696 ], [ -0.6807977973046572, 0.7324714050289792 ], [ 0.6726727939510636, 0.73994007334617 ] ] }, { "task_id": "0000736", "id": "RH20T_cfg4_task_0125_user_0007_scene_0002_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever of the tool upward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000736/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9625435648665339, -0.27112706566114847 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.11953375164338885, -0.9928301376459402 ], [ -0.932826803705754, 0.36032506752668036 ] ] }, { "task_id": "0000737", "id": "RH20T_cfg2_task_0074_user_0014_scene_0004_cfg_0002_105422061350#155", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000737/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9942240293998509, 0.10732464471837173 ], [ -0.10217046290091486, -0.9947669056168951 ], [ -0.995028110223703, -0.09959447707903499 ] ] }, { "task_id": "0000738", "id": "RH20T_cfg2_task_0008_user_0013_scene_0003_cfg_0002_105422061350#337", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000738/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7140367036906302, 0.700108267186311 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.7014477808014844, -0.7127208505499701 ], [ -0.7352438843211104, -0.6778026486879537 ] ] }, { "task_id": "0000739", "id": "RH20T_cfg7_task_0001_user_0020_scene_0008_cfg_0007_104122064161#105", "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 control panel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000739/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.900804853436227, 0.4342241541251911 ], [ -0.3713906762851382, 0.9284766907128456 ], [ 0.22772247472924778, -0.9737260777565665 ], [ -0.9307117969094549, -0.36575340202597373 ] ] }, { "task_id": "0000740", "id": "RH20T_cfg5_task_0096_user_0007_scene_0009_cfg_0005_104122063678#210", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000740/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7305973103425846, -0.6828085896649083 ], [ 0.59999999988, 0.79999999984 ], [ -0.5806247262712473, -0.8141713132028414 ], [ -0.8189292918849939, 0.5738944283513672 ] ] }, { "task_id": "0000741", "id": "RH20T_cfg7_task_0062_user_0020_scene_0002_cfg_0007_104122064161#114", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000741/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, -0.9486832977505137 ], [ -0.9841863188305835, 0.17713635941473163 ], [ 0.3824468962497516, 0.9239774735072992 ], [ 0.8967344102243906, -0.4425690878490211 ] ] }, { "task_id": "0000743", "id": "RH20T_cfg6_task_0080_user_0020_scene_0003_cfg_0006_104122064161#114", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000743/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9941049359335729, -0.1084222133721084 ], [ -0.011304808742119813, -0.9999360986079581 ], [ 0.0, 0.9999999989999999 ], [ -0.9917214346384807, -0.12840792841017865 ] ] }, { "task_id": "0000744", "id": "RH20T_cfg1_task_0004_user_0004_scene_0009_cfg_0001_039422060546#152", "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 piece on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000744/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.47337050506578693, 0.8808634201360401 ], [ 0.939501022578523, 0.34254609700580374 ], [ -0.8944271905999158, -0.4472135952999579 ], [ 0.39416238949915916, -0.9190408101408301 ] ] }, { "task_id": "0000747", "id": "RH20T_cfg7_task_0008_user_0014_scene_0007_cfg_0007_104122064161#90", "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 blocks 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000747/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9971942057426767, 0.0748579724093052 ], [ 0.0, 0.9999999998888889 ], [ -0.08853126409294144, -0.9960733985395382 ], [ -0.9948770683952591, -0.10109213016479034 ] ] }, { "task_id": "0000748", "id": "RH20T_cfg5_task_0020_user_0010_scene_0003_cfg_0005_104122063678#379", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000748/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08107405417940092, 0.9967080805024686 ], [ -0.99999999975, 0.0 ], [ 0.9907449572799674, 0.13573661858288527 ], [ 0.1072701977484768, -0.9942299053413163 ] ] }, { "task_id": "0000749", "id": "RH20T_cfg6_task_0026_user_0014_scene_0010_cfg_0006_104122064161#71", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000749/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.829288082670756, -0.5588213273849356 ], [ -0.31301473493183285, -0.9497482696565203 ], [ -0.9473590252538789, 0.32017319886277246 ] ] }, { "task_id": "0000750", "id": "RH20T_cfg7_task_0033_user_0014_scene_0009_cfg_0007_104122064161#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the square on the left side of the cardboard to the black circle on the cardboard', and now you are performing subtask 'pick up a 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000750/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6519003933755612, 0.7583046070787047 ], [ 0.6968980832172541, -0.7171701761842284 ], [ -0.6960947675123741, -0.7179499109561153 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000751", "id": "RH20T_cfg7_task_0001_user_0020_scene_0002_cfg_0007_104122064161#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base', and now you are performing subtask 'press the red button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000751/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6704285445498673, 0.7419741010660321 ], [ 0.6295138941816946, -0.7769892258147459 ], [ -0.643759510784811, -0.7652278695095344 ] ] }, { "task_id": "0000752", "id": "RH20T_cfg6_task_0031_user_0020_scene_0009_cfg_0006_104122064161#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the black lid from the desktop and place it on the black box', and now you are performing subtask 'pick up the black lid from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000752/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996733364442557, -0.025558176820933635 ], [ 0.0, 0.9999999989999999 ], [ -0.032917893221370544, -0.9994580593030739 ], [ -0.9953680944974767, 0.0961371752053406 ] ] }, { "task_id": "0000753", "id": "RH20T_cfg2_task_0207_user_0007_scene_0009_cfg_0002_105422061350#199", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the chili peppers', and now you are performing subtask 'pick up the knife from the knife holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000753/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, -0.8320502941070744 ], [ -0.8961050452691323, -0.4438420302801508 ], [ -0.42419762822070173, 0.9055696396257614 ], [ 0.7539273765887123, 0.6569577694418889 ] ] }, { "task_id": "0000754", "id": "RH20T_cfg3_task_0085_user_0010_scene_0003_cfg_0003_104122062823#168", "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 'remove the bubble ring from the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000754/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9984125532226195, -0.05632382770631101 ], [ -0.08518270722157237, -0.9963653478470655 ], [ -0.9957231790424476, -0.09238696183770732 ] ] }, { "task_id": "0000755", "id": "RH20T_cfg4_task_0039_user_0010_scene_0004_cfg_0004_104122062823#122", "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 with water 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000755/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6288658826616127, 0.777513795134357 ], [ 0.8008189444599296, -0.5989065187440225 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.45028925748509124, -0.8928827384340707 ] ] }, { "task_id": "0000756", "id": "RH20T_cfg4_task_0005_user_0010_scene_0005_cfg_0004_104122062823#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block', and now you are performing subtask 'push the small block forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000756/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5826772850319939, 0.8127036246429227 ], [ -0.79999999996, 0.59999999997 ], [ 0.8241542224178164, -0.5663654453362109 ], [ -0.6259045333403609, -0.7798996827438675 ] ] }, { "task_id": "0000757", "id": "RH20T_cfg4_task_0089_user_0015_scene_0003_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the right side of the table', and now you are performing subtask 'push the block to the right side 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000757/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5144957553834089, 0.8574929256390147 ], [ 0.8716644014660048, 0.4901032250627533 ], [ 0.43263675928437345, -0.9015683193834593 ], [ -0.7667323734749584, -0.6419668741184836 ] ] }, { "task_id": "0000758", "id": "RH20T_cfg6_task_0075_user_0014_scene_0007_cfg_0006_104122064161#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000758/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.48556480590596074, 0.8742006744824135 ], [ 0.8695497474600403, -0.493845357062492 ], [ -0.47695627094500626, -0.8789270251882313 ], [ -0.8944271907999158, 0.4472135953999579 ] ] }, { "task_id": "0000759", "id": "RH20T_cfg6_task_0080_user_0020_scene_0005_cfg_0006_104122064161#93", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000759/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994387996111725, -0.0334975496384249 ], [ 0.09625243290605633, -0.9953569556494118 ], [ -0.9981360217043135, -0.06102853575407357 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0000760", "id": "RH20T_cfg3_task_0013_user_0011_scene_0008_cfg_0003_104122062823#155", "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 on the red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000760/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9366721404903995, 0.3502075116686297 ], [ 0.15071601968088721, -0.9885770993764474 ], [ -0.2747211278596422, 0.9615239475087477 ], [ -0.9236247059167307, -0.3832980597658079 ] ] }, { "task_id": "0000761", "id": "RH20T_cfg1_task_0010_user_0001_scene_0008_cfg_0001_819112070044#367", "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 fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000761/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7838400970539053, -0.6209627221102119 ], [ -0.738372677070529, -0.6743929045858211 ], [ -0.6369110048171212, 0.770937333343538 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000762", "id": "RH20T_cfg4_task_0016_user_0010_scene_0010_cfg_0004_104122062823#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue by the pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000762/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9962893879641707, 0.08606657556786072 ], [ -0.14142135623549132, 0.9899494936484392 ], [ 0.07486170514698544, -0.9971939255242612 ], [ -0.9973710583414613, -0.07246359073930432 ] ] }, { "task_id": "0000763", "id": "RH20T_cfg5_task_0046_user_0010_scene_0001_cfg_0005_104122063678#197", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000763/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.979234636526649, -0.20273018183418504 ], [ -0.07646922450045031, -0.9970719420905895 ], [ -0.9998038170737543, -0.019807255356333524 ], [ 0.1046847845125633, 0.9945054528693513 ] ] }, { "task_id": "0000764", "id": "RH20T_cfg4_task_0092_user_0014_scene_0005_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the pointer of the object', and now you are performing subtask 'turn the pointer of the object clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000764/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9328266785905182, -0.3603253914308319 ], [ -0.19696720504668466, -0.9804100775369955 ], [ 0.24253562502898005, 0.9701425001159202 ], [ -0.9950331055219196, 0.0995445574373833 ] ] }, { "task_id": "0000765", "id": "RH20T_cfg4_task_0105_user_0015_scene_0003_cfg_0004_104122062823#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the cube 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000765/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06651901051934915, 0.9977851577902372 ], [ 0.9991993638714388, 0.040007889708307064 ], [ 0.07297208715310376, -0.9973339834260737 ], [ -0.9998900504475106, 0.01482858779772013 ] ] }, { "task_id": "0000766", "id": "RH20T_cfg6_task_0106_user_0020_scene_0005_cfg_0006_104122064161#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the object down from the shelf', and now you are performing subtask 'pick up the cube from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000766/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9910831574469209, -0.13324479361326652 ], [ -0.07360391549834348, -0.9972875531276387 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.9875125636044548, 0.15754027016403638 ] ] }, { "task_id": "0000767", "id": "RH20T_cfg6_task_0106_user_0020_scene_0005_cfg_0006_104122064161#322", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the object down from the shelf', and now you are performing subtask 'pick up the box from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000767/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995057400456567, 0.031436851238379734 ], [ -0.23098256734775127, -0.9729578889044693 ], [ 0.11043152606265141, 0.9938837345638627 ], [ -0.9958948979122866, 0.0905171382240753 ] ] }, { "task_id": "0000768", "id": "RH20T_cfg3_task_0045_user_0010_scene_0005_cfg_0003_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000768/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9749130026901667, 0.2225862466228384 ], [ 0.24013367967808816, -0.9707398291428354 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9801758406486902, -0.19812955713026123 ] ] }, { "task_id": "0000769", "id": "RH20T_cfg5_task_0002_user_0020_scene_0005_cfg_0005_104122063678#307", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000769/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8182553193318239, 0.574854966391676 ], [ 0.4952608156574472, -0.8687443378084948 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9447412475111404, -0.3278169843847238 ] ] }, { "task_id": "0000770", "id": "RH20T_cfg4_task_0067_user_0007_scene_0008_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button', and now you are performing subtask 'press the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000770/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975745270494987, -0.06960648663715928 ], [ -0.046589482932390236, -0.9989141204728725 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9961556753436448, 0.08760063059503007 ] ] }, { "task_id": "0000771", "id": "RH20T_cfg4_task_0001_user_0010_scene_0005_cfg_0004_104122062823#114", "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 machine 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000771/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33207481384434295, 0.9432530508883844 ], [ 0.9270772215062791, -0.3748704114279994 ], [ -0.42651380777495024, -0.904481051088033 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0000772", "id": "RH20T_cfg3_task_0010_user_0010_scene_0008_cfg_0003_104122062823#209", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000772/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.047745608549060355, -0.9988595280940559 ], [ 0.9999999996666666, 0.0 ], [ -0.9958615222932011, -0.09088359816748129 ], [ 0.07365273389908841, 0.9972839489278819 ] ] }, { "task_id": "0000773", "id": "RH20T_cfg3_task_0045_user_0010_scene_0003_cfg_0003_104122062823#198", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000773/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06549357599036709, 0.9978529909280194 ], [ 0.9920826960775406, 0.12558632148254872 ], [ -0.9999999989999999, 0.0 ], [ 0.011231572188196752, -0.9999369239037937 ] ] }, { "task_id": "0000774", "id": "RH20T_cfg4_task_0032_user_0016_scene_0010_cfg_0004_104122062823#100", "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 on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000774/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9122695335674781, 0.4095904028262146 ], [ 0.4173308838046953, -0.9087546057230148 ], [ -0.8955206832126463, -0.4450198938680778 ], [ -0.5249095231632734, 0.8511580302696468 ] ] }, { "task_id": "0000775", "id": "RH20T_cfg7_task_0005_user_0020_scene_0002_cfg_0007_104122064161#104", "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 square'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000775/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6296541939743673, -0.7768755344393913 ], [ -0.8823035760909058, -0.4706807831399104 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.545168260910761, 0.8383266471343592 ] ] }, { "task_id": "0000776", "id": "RH20T_cfg4_task_0103_user_0007_scene_0005_cfg_0004_104122062823#82", "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 into the soccer goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000776/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9701425000669006, 0.24253562501672515 ], [ 0.32718365298662117, -0.9449607702007159 ], [ -0.9879440848981764, -0.15481112723155546 ], [ -0.25325953934514817, 0.9673983697167798 ] ] }, { "task_id": "0000777", "id": "RH20T_cfg6_task_0026_user_0014_scene_0006_cfg_0006_104122064161#45", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer closed', and now you are performing subtask 'push the drawer to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000777/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9794048731108089, -0.20190615277103421 ], [ -0.41809799626143324, -0.9084019295015696 ], [ -0.9020841615433658, 0.43156015280908744 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0000778", "id": "RH20T_cfg4_task_0069_user_0007_scene_0004_cfg_0004_104122062823#373", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the puzzle piece on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000778/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.999696923418478, -0.024618312444797473 ], [ 0.0, -0.9999999995 ], [ -0.13149264722416232, 0.9913171458852016 ], [ 0.998544571998215, -0.05393271486678177 ] ] }, { "task_id": "0000779", "id": "RH20T_cfg4_task_0089_user_0007_scene_0009_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the square on the table to the target position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000779/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5606100495589555, 0.8280799311259183 ], [ 0.8180319501438975, -0.5751727814698573 ], [ -0.5362718930115348, -0.8440452930772288 ], [ -0.8944271908665825, 0.44721359543329126 ] ] }, { "task_id": "0000780", "id": "RH20T_cfg2_task_0006_user_0003_scene_0003_cfg_0002_104122061850#197", "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 block on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000780/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.11652951004396682, -0.9931872297250469 ], [ -0.9998630603740751, -0.016548731050708535 ], [ 0.0064517592686178455, 0.9999791871845833 ] ] }, { "task_id": "0000782", "id": "RH20T_cfg6_task_0129_user_0014_scene_0001_cfg_0006_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the lamp holder and the bulb 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000782/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2661428651237404, -0.9639335948828252 ], [ -0.9765524602628577, 0.21527956789848846 ], [ 0.31486079806678835, 0.9491378602925631 ], [ 0.9805806756268175, -0.19611613512536352 ] ] }, { "task_id": "0000783", "id": "RH20T_cfg5_task_0042_user_0010_scene_0001_cfg_0005_104122063678#419", "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 on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000783/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988698414390074, 0.0475293579128972 ], [ 0.0, 0.9999999989999999 ], [ -0.12929546826829733, -0.9916061122670039 ], [ -0.9917605714175695, 0.12810530426760697 ] ] }, { "task_id": "0000784", "id": "RH20T_cfg6_task_0002_user_0020_scene_0001_cfg_0006_104122064161#98", "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 bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000784/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9537079586619106, 0.30073431727179284 ], [ 0.3507552740420646, -0.9364671578500103 ], [ -0.9724063002094447, -0.23329377898473694 ], [ -0.21693045779512676, 0.9761870600780704 ] ] }, { "task_id": "0000785", "id": "RH20T_cfg6_task_0048_user_0014_scene_0004_cfg_0006_104122063633#173", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000785/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9421148699949988, 0.33529027980886433 ], [ 0.11235581942082025, -0.9936680380500703 ], [ -0.9207870939052669, -0.39006554282260464 ], [ -0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0000786", "id": "RH20T_cfg4_task_0015_user_0010_scene_0009_cfg_0004_104122062823#105", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000786/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8666860186858324, -0.49885403177132004 ], [ -0.5741099775612412, -0.8187781956455799 ], [ -0.8221700124962019, 0.5692420140432322 ], [ 0.5144957553392911, 0.8574929255654853 ] ] }, { "task_id": "0000787", "id": "RH20T_cfg4_task_0068_user_0007_scene_0007_cfg_0004_104122062823#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the orange base', and now you are performing subtask 'press the red button on the orange base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000787/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12403473457382384, 0.9922778765905907 ], [ 0.9999601868837291, -0.00892326439470605 ], [ -0.18475915387131064, -0.9827838292629552 ], [ -0.9971654610691659, 0.07523990464319905 ] ] }, { "task_id": "0000788", "id": "RH20T_cfg5_task_0012_user_0010_scene_0004_cfg_0005_104122063678#290", "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 on the table into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000788/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9976772282926784, -0.06811863288586434 ], [ -0.08469329069417761, -0.9964070686779533 ], [ -0.9977497058508329, -0.06704867242963582 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0000789", "id": "RH20T_cfg6_task_0020_user_0014_scene_0010_cfg_0006_104122064161#93", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000789/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.26192397998875233, -0.9650885082244279 ], [ -0.9572643355474407, -0.2892144392815074 ], [ -0.3493530913647395, 0.9369911512676627 ], [ 0.9486832979005138, 0.31622776596683794 ] ] }, { "task_id": "0000790", "id": "RH20T_cfg5_task_0008_user_0007_scene_0006_cfg_0005_104122063678#264", "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 at the current location'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000790/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6645022457761127, 0.7472862673423771 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.7764228333192157, 0.6302123323932669 ], [ 0.6880141531757674, -0.7256972681702968 ] ] }, { "task_id": "0000791", "id": "RH20T_cfg4_task_0222_user_0014_scene_0003_cfg_0004_104122062823#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000791/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.975718866796692, -0.21902669466752087 ], [ 0.1414213562273095, 0.9899494935911665 ], [ -0.09798798486601792, -0.9951875978034981 ], [ -0.997341121613142, 0.07287446150360181 ] ] }, { "task_id": "0000792", "id": "RH20T_cfg4_task_0108_user_0007_scene_0010_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the pencil sharpener clockwise', and now you are performing subtask 'twist the pencil sharpener clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000792/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.830835190777919, -0.5565185403605337 ], [ -0.49283087914421014, -0.8701251200614456 ], [ -0.8004440709325265, 0.5994074484930635 ], [ 0.59999999997, 0.79999999996 ] ] }, { "task_id": "0000793", "id": "RH20T_cfg7_task_0064_user_0020_scene_0002_cfg_0007_104122064161#112", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000793/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9481385523363444, -0.31785733525206117 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.2302143129066351, -0.9731399540317548 ], [ -0.9906795225876925, 0.13621337498726707 ] ] }, { "task_id": "0000794", "id": "RH20T_cfg6_task_0086_user_0007_scene_0001_cfg_0006_104122064161#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the rotary dial of the old-fashioned rotary phone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000794/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999701919132482, 0.007721093509453879 ], [ 0.07833732634520169, -0.9969269097085731 ], [ -0.9978341785368242, 0.06577957238946812 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000795", "id": "RH20T_cfg4_task_0103_user_0015_scene_0003_cfg_0004_104122062823#113", "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 'pick up the plate 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000795/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40320975997052255, 0.9151075835466088 ], [ -0.9230769230059171, 0.3846153845857988 ], [ 0.9493005009999367, -0.3143700984528731 ], [ -0.36754391443911716, -0.9300061671616866 ] ] }, { "task_id": "0000796", "id": "RH20T_cfg5_task_0092_user_0007_scene_0008_cfg_0005_104122063678#182", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock clockwise', and now you are performing subtask 'turn the pointer 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000796/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956064584866223, 0.09363642357397868 ], [ -0.1216252047272061, -0.9925760976242906 ], [ -0.9998745848425628, -0.01583712681999833 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000797", "id": "RH20T_cfg5_task_0008_user_0007_scene_0010_cfg_0005_104122063678#249", "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 right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000797/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9970172798825274, -0.07717864740746702 ], [ -0.13859662438600412, -0.9903489161446105 ], [ -0.9906091284860947, -0.13672437441809632 ] ] }, { "task_id": "0000798", "id": "RH20T_cfg5_task_0011_user_0007_scene_0005_cfg_0005_104122063678#236", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000798/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7394697403271308, -0.6731897972641341 ], [ -0.7935155282508447, -0.6085500032247004 ], [ -0.6321068015776266, 0.7748812756798961 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0000799", "id": "RH20T_cfg4_task_0124_user_0007_scene_0007_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000799/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.02221561008816191, 0.9997532028797961 ], [ -0.9999999989999999, 0.0 ], [ 0.9932827999785181, 0.11571205324785892 ], [ -0.05621899944257767, -0.9984184614186957 ] ] }, { "task_id": "0000800", "id": "RH20T_cfg6_task_0039_user_0020_scene_0003_cfg_0006_104122064161#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pour the water from the cup into another empty cup', and now you are performing subtask 'pick up the cup filled with water from under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000800/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.992925401197557, 0.11873983180327757 ], [ -0.06600288717125083, 0.9978194320041373 ], [ 0.9975159630621879, 0.07044077963875654 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0000801", "id": "RH20T_cfg6_task_0033_user_0014_scene_0003_cfg_0006_104122064161#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block upward on the cardboard', and now you are performing subtask 'push the block above the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000801/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9733974591021624, 0.2291230817998359 ], [ -0.24253562497750944, 0.9701424999100378 ], [ 0.23493502249651224, -0.9720110777169997 ], [ -0.9934881300931603, -0.11393566326658112 ] ] }, { "task_id": "0000802", "id": "RH20T_cfg3_task_0018_user_0011_scene_0001_cfg_0003_104122062823#233", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'shake the blocks in the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000802/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.667039382463964, 0.7450224575421157 ], [ 0.7824020851781995, -0.6227736162593959 ], [ -0.6499916239541044, -0.7599413719422743 ], [ -0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0000803", "id": "RH20T_cfg4_task_0015_user_0010_scene_0003_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick left of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000803/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9968825810095343, 0.07889942762637295 ], [ 0.17343233427723853, -0.9848457876374089 ], [ -0.21693045779512676, 0.9761870600780704 ], [ -0.9546020039407122, -0.2978842293112824 ] ] }, { "task_id": "0000804", "id": "RH20T_cfg3_task_0018_user_0010_scene_0004_cfg_0003_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the block from the block pile'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000804/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.9239233376381338, 0.38257766030913376 ], [ 0.30426711762648984, -0.9525867525486946 ], [ -0.8708117949514032, -0.49161653529302224 ] ] }, { "task_id": "0000805", "id": "RH20T_cfg5_task_0014_user_0010_scene_0002_cfg_0005_104122063678#252", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000805/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9988239147096003, 0.048484919348073134 ], [ -0.011745820714803679, 0.9999310154684351 ], [ 0.9961163298213123, -0.08804690490482191 ] ] }, { "task_id": "0000806", "id": "RH20T_cfg6_task_0006_user_0014_scene_0007_cfg_0006_104122064161#70", "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 block from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000806/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987428645436861, -0.05012674458881535 ], [ -0.05338227334563556, -0.9985741499220036 ], [ 0.0, 0.999999999875 ], [ -0.9941968969372221, -0.10757569484041693 ] ] }, { "task_id": "0000807", "id": "RH20T_cfg5_task_0096_user_0007_scene_0004_cfg_0005_104122063678#307", "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's handle to the open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000807/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09890781010607046, -0.995096600888588 ], [ 0.99999999975, 0.0 ], [ -0.9994360652952641, -0.03357903195627748 ], [ -0.14522110666781554, 0.9893992268938636 ] ] }, { "task_id": "0000808", "id": "RH20T_cfg4_task_0014_user_0007_scene_0002_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the jar from the scale and place it on the table', and now you are performing subtask 'pick up the jar 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000808/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8574929255654853, 0.5144957553392911 ], [ 0.515613267291804, -0.8568214274822209 ], [ -0.8925103493177446, -0.4510269131223961 ], [ -0.5803515438268995, 0.8143660636211055 ] ] }, { "task_id": "0000809", "id": "RH20T_cfg2_task_0021_user_0003_scene_0007_cfg_0002_037522062165#237", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000809/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06320589346800824, 0.9980005085323909 ], [ 0.9947330382279093, -0.1024996715012927 ], [ -0.9999999995, 0.0 ], [ 0.01394197834773043, -0.9999028058965288 ] ] }, { "task_id": "0000810", "id": "RH20T_cfg4_task_0088_user_0014_scene_0003_cfg_0004_104122062823#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000810/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0884866744517577, 0.9960773606725879 ], [ 0.9893907068989515, 0.14527914200597833 ], [ -0.9999999998888889, 0.0 ], [ 0.058670890618253854, -0.998277379586486 ] ] }, { "task_id": "0000811", "id": "RH20T_cfg4_task_0015_user_0016_scene_0002_cfg_0004_104122062823#115", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000811/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973295330032954, 0.07303288710867639 ], [ -0.030289126639851706, 0.9995411791151063 ], [ 0.05569032999362695, -0.9984480893592822 ], [ -0.9961661677679777, 0.08748123338443092 ] ] }, { "task_id": "0000812", "id": "RH20T_cfg4_task_0011_user_0010_scene_0001_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the watering can from the desk to water the plant', and now you are performing subtask 'pick up the watering can on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000812/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990781270164146, 0.13547130578805816 ], [ 0.2251331023435036, -0.9743280177790176 ], [ -0.9603325667755949, -0.2788572415954045 ], [ -0.28734788555258395, 0.9578262851752798 ] ] }, { "task_id": "0000813", "id": "RH20T_cfg6_task_0206_user_0014_scene_0002_cfg_0006_104122064161#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000813/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9069668647944201, -0.4212019778740125 ], [ -0.24920841494620993, -0.9684498778563595 ], [ -0.8996244338329838, 0.43666449140121677 ] ] }, { "task_id": "0000814", "id": "RH20T_cfg4_task_0011_user_0016_scene_0004_cfg_0004_104122062823#87", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000814/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9790363567972683, -0.2036855715781856 ], [ -0.2611401752125273, -0.9653008903393648 ], [ -0.9726794904709988, 0.23215212430016277 ], [ 0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0000815", "id": "RH20T_cfg3_task_0012_user_0011_scene_0001_cfg_0003_104122062823#233", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000815/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999627715645464, -0.027284246616526536 ], [ -0.2862251227753563, -0.9581623970351958 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9997554216712857, 0.0221155338816347 ] ] }, { "task_id": "0000816", "id": "RH20T_cfg3_task_0044_user_0010_scene_0006_cfg_0003_104122062823#116", "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 left side of 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000816/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9882882562440142, -0.1525985667369317 ], [ -0.016580185880283836, -0.9998625392703616 ], [ 0.0, 0.9999999999230769 ], [ -0.9991293652620211, -0.04171943756944487 ] ] }, { "task_id": "0000817", "id": "RH20T_cfg4_task_0013_user_0007_scene_0001_cfg_0004_104122062823#138", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000817/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9010005663561689, 0.43381791044845414 ], [ 0.15293100200257856, -0.9882368686840657 ], [ -0.29408584881590144, 0.9557790086516798 ], [ -0.9861491417980027, -0.16586099641284813 ] ] }, { "task_id": "0000818", "id": "RH20T_cfg4_task_0109_user_0007_scene_0009_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000818/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9886867761111426, 0.1499948623885339 ], [ -0.03158478936594706, -0.9995010760778144 ], [ 0.0, 0.9999999996666666 ], [ -0.9999848277147281, -0.005508569718669581 ] ] }, { "task_id": "0000819", "id": "RH20T_cfg3_task_0004_user_0016_scene_0005_cfg_0003_104122062823#318", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small piece on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000819/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8838389338216405, -0.46779134137030143 ], [ -0.5611466859829469, -0.8277163746177527 ], [ 0.59999999988, 0.79999999984 ], [ -0.8117674972011174, 0.5839807620871033 ] ] }, { "task_id": "0000820", "id": "RH20T_cfg6_task_0120_user_0020_scene_0002_cfg_0006_104122064161#139", "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 workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000820/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.928913465421532, -0.3702968724666202 ], [ -0.4882138078557012, -0.8727240559415309 ], [ -0.8933263185321215, 0.4494085987359904 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000822", "id": "RH20T_cfg3_task_0092_user_0010_scene_0006_cfg_0003_104122062823#99", "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 the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000822/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8957654181313925, 0.44452706968180417 ], [ 0.27890477002744973, 0.9603187643985384 ], [ 0.9614596741676192, -0.2749459855126014 ], [ -0.3713906762851382, -0.9284766907128456 ] ] }, { "task_id": "0000823", "id": "RH20T_cfg7_task_0038_user_0014_scene_0006_cfg_0007_104122064161#112", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000823/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998201462377726, -0.018965104193731104 ], [ 0.0, 0.9999999995 ], [ -0.02530265228551268, -0.9996798366413712 ], [ -0.9995913910914717, -0.028584101451969934 ] ] }, { "task_id": "0000824", "id": "RH20T_cfg2_task_0015_user_0006_scene_0008_cfg_0002_037522062165#396", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the drumsticks on the table', and now you are performing subtask 'pick up the drumsticks 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000824/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7736886965541615, -0.6335659403916238 ], [ -0.6536980410557625, -0.7567554896529385 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7218105094371977, 0.6920907371624138 ] ] }, { "task_id": "0000825", "id": "RH20T_cfg6_task_0094_user_0020_scene_0005_cfg_0006_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid from the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000825/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.7008453091633686, 0.7133132920559537 ], [ 0.6266623726687185, -0.7792908768112278 ], [ -0.6345329016106004, -0.7728958511815368 ] ] }, { "task_id": "0000826", "id": "RH20T_cfg4_task_0042_user_0014_scene_0005_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000826/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8323925336445583, 0.5541864938202599 ], [ 0.6528086006242153, -0.7575228913709828 ], [ -0.59999999988, 0.79999999984 ], [ -0.7114394685734836, -0.7027473817495724 ] ] }, { "task_id": "0000827", "id": "RH20T_cfg3_task_0024_user_0010_scene_0005_cfg_0003_104122062823#131", "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 power button on the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000827/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996429390457898, 0.08443026608806777 ], [ -0.14745984268790133, -0.9890680435614425 ], [ -0.9983811078900184, 0.05687849688853802 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0000828", "id": "RH20T_cfg1_task_0120_user_0010_scene_0008_cfg_0001_819112070044#350", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing the light bulb by rotating it', and now you are performing subtask 'pick up the light bulb on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000828/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9990498907508281, -0.043581140310443064 ], [ -0.12347254011347253, 0.992347989284972 ], [ 0.9989778468975756, 0.045202449135904564 ] ] }, { "task_id": "0000829", "id": "RH20T_cfg4_task_0062_user_0015_scene_0007_cfg_0004_104122062823#161", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000829/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3892462167059481, -0.9211337485838341 ], [ -0.880149773574151, -0.47469608812099007 ], [ 0.9284766907128456, 0.3713906762851382 ], [ -0.41099160869454293, 0.9116391268383953 ] ] }, { "task_id": "0000830", "id": "RH20T_cfg3_task_0067_user_0010_scene_0008_cfg_0003_104122062823#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the yellow base of the green key on the desktop', and now you are performing subtask 'press the button on the green key yellow base 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000830/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999886179359363, -0.004771163230927183 ], [ -0.03224129400991855, 0.999480114307475 ], [ 0.07194993375469666, -0.9974082449191478 ], [ -0.9949085293014814, 0.10078203373202621 ] ] }, { "task_id": "0000831", "id": "RH20T_cfg3_task_0046_user_0010_scene_0010_cfg_0003_104122062823#116", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000831/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7948044781971139, -0.6068655876203672 ], [ -0.6276309496350246, 0.7785110089524985 ], [ 0.6025668699675546, 0.7980683975809995 ], [ 0.7071067811032142, -0.7071067811032142 ] ] }, { "task_id": "0000832", "id": "RH20T_cfg3_task_0054_user_0010_scene_0002_cfg_0003_036422060909#206", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the grasp of the moving object', and now you are performing subtask 'grab the moving object from above 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000832/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9635179095783646, 0.26764386377176796 ], [ 0.3846117842300817, -0.9230784232292255 ], [ -0.9678507709596396, -0.2515251183337985 ], [ -0.32528880010752864, 0.9456147188599616 ] ] }, { "task_id": "0000833", "id": "RH20T_cfg6_task_0107_user_0020_scene_0006_cfg_0006_104122064161#123", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000833/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9890620924236455, -0.1474997536627098 ], [ -0.2353074110881365, -0.9719209959081031 ], [ -0.9777484241443304, 0.20978088350295088 ] ] }, { "task_id": "0000834", "id": "RH20T_cfg1_task_0018_user_0001_scene_0002_cfg_0001_819112070044#285", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the blocks on the table', and now you are performing subtask 'pull the block of the tower'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000834/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6257263285852068, 0.7800426665992558 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6227940353483113, -0.7823858316294885 ], [ -0.6997682919713546, -0.714369888469197 ] ] }, { "task_id": "0000835", "id": "RH20T_cfg4_task_0119_user_0007_scene_0007_cfg_0004_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the handle of the water tap clockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000835/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49613893832606465, 0.868243142070613 ], [ 0.8490799296890162, -0.5282643968689309 ], [ -0.4271666738662017, -0.9041728998029559 ], [ -0.8103074749286335, 0.5860049454354306 ] ] }, { "task_id": "0000836", "id": "RH20T_cfg2_task_0085_user_0014_scene_0010_cfg_0002_105422061350#91", "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 from outside the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000836/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9782211527987947, -0.20756535408636265 ], [ -0.1567685876111139, -0.9876353628431985 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.9527865238200248, 0.30364097224675257 ] ] }, { "task_id": "0000837", "id": "RH20T_cfg3_task_0005_user_0016_scene_0008_cfg_0003_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block slightly to the right', and now you are performing subtask 'push the block slightly to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000837/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5144957554054677, 0.8574929256757794 ], [ 0.8040047748664875, -0.5946228401195912 ], [ -0.49201696187885857, -0.8705856128052529 ], [ -0.8504670002907437, 0.5260284036213864 ] ] }, { "task_id": "0000838", "id": "RH20T_cfg4_task_0008_user_0010_scene_0004_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on the black circle', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000838/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987963260174441, -0.04904996568862765 ], [ -0.06294299005878104, -0.9980171241028183 ], [ -0.9918364844961446, -0.12751622650599923 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000839", "id": "RH20T_cfg4_task_0023_user_0014_scene_0001_cfg_0004_038522062288#159", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000839/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5706266736705496, 0.8212095952286993 ], [ 0.8199549000878408, -0.572428128084163 ], [ -0.7893522173070956, 0.6139406134610743 ], [ -0.7203858076253682, -0.6935735636339855 ] ] }, { "task_id": "0000840", "id": "RH20T_cfg6_task_0130_user_0014_scene_0006_cfg_0006_104122064161#86", "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 bulb 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000840/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9747966299253563, -0.22309533900592404 ], [ 0.09480909262350105, 0.9954954725467611 ], [ -0.11054990284145855, -0.9938705745627768 ], [ -0.9994929055414362, -0.031842295337140114 ] ] }, { "task_id": "0000841", "id": "RH20T_cfg4_task_0103_user_0014_scene_0014_cfg_0004_104122062823#107", "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 to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000841/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9033675347113054, -0.4288672256417113 ], [ -0.39618420430467605, -0.9181710495650964 ], [ -0.8943447256074954, 0.4473784882826327 ], [ 0.5062005687547331, 0.86241578380436 ] ] }, { "task_id": "0000842", "id": "RH20T_cfg7_task_0008_user_0014_scene_0005_cfg_0007_104122064161#93", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000842/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9769784953193087, 0.21333780650325346 ], [ 0.1735484304341237, -0.98482533593214 ], [ -0.12403473457382384, 0.9922778765905907 ], [ -0.9869608961407775, -0.16096021088763957 ] ] }, { "task_id": "0000843", "id": "RH20T_cfg4_task_0001_user_0010_scene_0001_cfg_0004_104122062823#79", "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 blue surface from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000843/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7163722032736722, -0.6977183288239062 ], [ -0.7651462143548056, -0.6438565606239561 ], [ 0.6757246284758369, 0.7371541401554584 ], [ -0.7045985191779801, 0.709606177236499 ] ] }, { "task_id": "0000844", "id": "RH20T_cfg3_task_0012_user_0010_scene_0010_cfg_0003_104122062823#172", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000844/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12066779640042279, -0.992692944929028 ], [ 0.9999999989999999, 0.0 ], [ -0.9999892209281949, 0.004643062289261174 ], [ -0.09687592084221916, 0.9952964663661638 ] ] }, { "task_id": "0000845", "id": "RH20T_cfg3_task_0042_user_0010_scene_0010_cfg_0003_104122062823#161", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (requires rotation)', and now you are performing subtask 'twist the lid clockwise to tighten it onto the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000845/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9494288727842533, -0.31398218981913956 ], [ -0.5030080826565819, -0.8642817068422478 ], [ -0.847072021784945, 0.5314781179965602 ], [ 0.4299335803738635, 0.9028605187851132 ] ] }, { "task_id": "0000846", "id": "RH20T_cfg4_task_0031_user_0016_scene_0005_cfg_0004_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the blue 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000846/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9264361368988537, -0.37645196804895087 ], [ -0.4844355506976817, -0.8748269527285005 ], [ 0.35599532757614627, 0.9344877348873839 ], [ -0.9358435843208287, 0.3524156433609951 ] ] }, { "task_id": "0000847", "id": "RH20T_cfg2_task_0096_user_0007_scene_0006_cfg_0002_105422061350#103", "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 of the work 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000847/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.99845067562875, 0.055643942495951615 ], [ -0.01792625905602937, -0.9998393117077645 ], [ 0.0, 0.9999999989999999 ], [ -0.9878129434564085, 0.15564571545656686 ] ] }, { "task_id": "0000848", "id": "RH20T_cfg2_task_0054_user_0007_scene_0008_cfg_0002_105422061350#88", "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 above the plank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000848/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7959441792000896, 0.6053700220505601 ], [ 0.6047024412833025, 0.7964514784379612 ], [ 0.7353253106504711, -0.6777143111347054 ], [ -0.554700196148306, -0.8320502942224591 ] ] }, { "task_id": "0000849", "id": "RH20T_cfg2_task_0073_user_0014_scene_0005_cfg_0002_105422061350#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer and close the drawer', and now you are performing subtask 'pick up the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000849/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9962713315564099, 0.08627533783659164 ], [ 0.2747689105528916, -0.9615102941693225 ], [ -0.9851692910197396, -0.17158516262096707 ], [ -0.1961161350997225, 0.9805806754986125 ] ] }, { "task_id": "0000850", "id": "RH20T_cfg4_task_0060_user_0016_scene_0010_cfg_0004_104122062823#112", "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 knob counterclockwise to decrease the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000850/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12403473457382384, 0.9922778765905907 ], [ 0.9691969006326294, 0.24628716532557113 ], [ 0.19143340592029748, -0.9815056042110787 ], [ -0.9999884327450249, -0.004809820802144521 ] ] }, { "task_id": "0000851", "id": "RH20T_cfg4_task_0200_user_0010_scene_0009_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000851/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.829532355241209, 0.5584586570266168 ], [ 0.4864765819550887, -0.8736936163262806 ], [ -0.5299989399470002, 0.8479983039152004 ], [ -0.7739849732615764, -0.6332039649001551 ] ] }, { "task_id": "0000852", "id": "RH20T_cfg7_task_0025_user_0014_scene_0001_cfg_0007_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end pressed down by a weight', and now you are performing subtask 'unfold the paper on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000852/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09811584508480062, 0.9951750001458348 ], [ 0.9804450864605786, 0.19679286683035152 ], [ -0.01756836829910374, -0.9998456643079007 ], [ -0.9994902443998549, 0.03192571611598618 ] ] }, { "task_id": "0000854", "id": "RH20T_cfg4_task_0006_user_0010_scene_0002_cfg_0004_104122062823#107", "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 'push the small piece from the left side of the table to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000854/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9367921956413733, 0.34988624174557315 ], [ 0.25927837484283156, -0.9658026321867528 ], [ -0.9728595690021985, -0.23139632451890124 ], [ -0.3470929430635831, 0.9378307357276474 ] ] }, { "task_id": "0000855", "id": "RH20T_cfg3_task_0048_user_0010_scene_0004_cfg_0003_104122062823#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000855/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6779199477097686, 0.735135732023131 ], [ 0.7929496649471455, -0.6092871481167231 ], [ -0.7371541401554584, 0.6757246284758369 ], [ -0.6871945365474025, -0.7264734468233515 ] ] }, { "task_id": "0000856", "id": "RH20T_cfg2_task_0014_user_0006_scene_0009_cfg_0002_037522062165#269", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the object from the scale and place it on the table', and now you are performing subtask 'pick up the object on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000856/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.13535943029977957, 0.9907965606666785 ], [ 0.9999743683307649, 0.007159796190381538 ], [ -0.1326691579011403, -0.9911603778106762 ] ] }, { "task_id": "0000857", "id": "RH20T_cfg4_task_0014_user_0007_scene_0010_cfg_0004_104122062823#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the socket from the scale to the table', and now you are performing subtask 'pick up the socket on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000857/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.676604310209951, -0.7363467983262482 ], [ -0.8153899133028673, -0.5789121602488089 ], [ 0.7371541401554584, 0.6757246284758369 ], [ -0.673438399519813, 0.7392433442731783 ] ] }, { "task_id": "0000858", "id": "RH20T_cfg7_task_0014_user_0020_scene_0005_cfg_0007_104122064161#122", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000858/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9727562344670887, -0.2318303437978091 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.07344587094860763, -0.9972992048731416 ], [ -0.9451912469432132, 0.3265172379858895 ] ] }, { "task_id": "0000859", "id": "RH20T_cfg7_task_0007_user_0014_scene_0010_cfg_0007_104122064161#94", "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 the bottom side to the top side 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000859/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.999999999875 ], [ 0.9882742610408646, 0.15268917762609469 ], [ 0.1378531399041982, -0.9904526802520924 ], [ -0.9922212515506672, 0.12448689879351782 ] ] }, { "task_id": "0000860", "id": "RH20T_cfg5_task_0010_user_0007_scene_0004_cfg_0005_104122063678#251", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000860/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9894588535074595, 0.1448142852611708 ], [ 0.034988402745187955, -0.9993877183922867 ], [ 0.0, 0.9999999989999999 ], [ -0.9999179354742259, -0.012811023259751034 ] ] }, { "task_id": "0000861", "id": "RH20T_cfg4_task_0089_user_0014_scene_0004_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the box to the left while avoiding the obstacles 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000861/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.013631581732553109, 0.9999070856731983 ], [ 0.9999652844189321, -0.008332464039189247 ], [ -0.9977851577902372, 0.06651901051934915 ], [ -0.21835044048494026, -0.9758704243597265 ] ] }, { "task_id": "0000862", "id": "RH20T_cfg6_task_0035_user_0014_scene_0007_cfg_0006_104122064161#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a big block from the desk', and now you are performing subtask 'pick up the large block from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000862/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9802821741511769, 0.19760278095573885 ], [ 0.36559583196486894, -0.9307737037808467 ], [ -0.9555391754945647, -0.294864179064137 ], [ -0.31622776596683794, 0.9486832979005138 ] ] }, { "task_id": "0000863", "id": "RH20T_cfg3_task_0001_user_0016_scene_0002_cfg_0003_104122062823#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the orange base with the red button', and now you are performing subtask 'press the red button on the orange base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000863/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24364492359468454, 0.969864501467365 ], [ 0.9660082238989033, -0.25851133700417556 ], [ -0.34034502159736635, -0.9403006254777715 ], [ -0.9284766907990525, 0.37139067631962097 ] ] }, { "task_id": "0000864", "id": "RH20T_cfg7_task_0039_user_0014_scene_0001_cfg_0007_104122064161#80", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000864/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4257970363072167, 0.9048187021528354 ], [ 0.8851307028688034, -0.4653424962744947 ], [ -0.5342346822172425, -0.8453362078582947 ], [ -0.8802205550213182, 0.4745648264652179 ] ] }, { "task_id": "0000865", "id": "RH20T_cfg2_task_0015_user_0006_scene_0002_cfg_0002_037522062165#311", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the drumsticks from the desk, play the drum, and put them back on the desk', and now you are performing subtask 'pick up the drumstick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000865/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9919836789301991, -0.12636605848133234 ], [ 0.14460869270829502, -0.9894889216121614 ], [ -0.990948484946714, -0.13424269135342978 ] ] }, { "task_id": "0000866", "id": "RH20T_cfg7_task_0062_user_0014_scene_0006_cfg_0007_104122064161#83", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000866/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998888889 ], [ 0.9925005432092674, 0.12224022140567882 ], [ -0.004158441049805403, -0.9999913536466379 ], [ -0.9999954608889577, -0.003013005390142809 ] ] }, { "task_id": "0000868", "id": "RH20T_cfg6_task_0004_user_0014_scene_0009_cfg_0006_104122064161#55", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000868/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9967614091920493, -0.0804157518492517 ], [ -0.147036186107807, -0.9891311136421047 ], [ -0.977105529290913, 0.21275522233102762 ], [ 0.2248595066819045, 0.9743911956215862 ] ] }, { "task_id": "0000869", "id": "RH20T_cfg2_task_0073_user_0014_scene_0009_cfg_0002_105422061350#169", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer, and then close the drawer', and now you are performing subtask 'pick up the small piece from the cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000869/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7957543601911959, -0.6056195160632627 ], [ -0.6251791890549486, -0.7804812499814437 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7933497206678997, 0.6087661461646546 ] ] }, { "task_id": "0000870", "id": "RH20T_cfg5_task_0041_user_0007_scene_0005_cfg_0005_104122063678#295", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000870/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9704665150830285, -0.24123586611986642 ], [ -0.44943567067421075, -0.8933126988494132 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9636599090080658, 0.2671321391569469 ] ] }, { "task_id": "0000871", "id": "RH20T_cfg7_task_0062_user_0020_scene_0006_cfg_0007_104122064161#92", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000871/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.32711056387127724, 0.9449860734059121 ], [ 0.9773909692678273, -0.21144004633393623 ], [ -0.35653554253080577, -0.9342817599162814 ], [ -0.9233530937108867, 0.3839519036735389 ] ] }, { "task_id": "0000872", "id": "RH20T_cfg4_task_0005_user_0010_scene_0007_cfg_0004_104122062823#88", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000872/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9778024140091168, 0.20952908871623932 ], [ 0.3299927982104079, 0.9439834496055877 ], [ 0.943644817291049, -0.33095990512408435 ], [ -0.26804821681763585, -0.9634054979399307 ] ] }, { "task_id": "0000873", "id": "RH20T_cfg6_task_0038_user_0014_scene_0008_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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000873/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.36244626113618167, 0.9320046714930386 ], [ 0.9733453379256305, -0.22934439853294913 ], [ -0.4881643188671568, -0.8727517389183278 ], [ -0.9006459243266007, 0.43455370093221307 ] ] }, { "task_id": "0000874", "id": "RH20T_cfg7_task_0061_user_0020_scene_0009_cfg_0007_104122064161#66", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take everything out of the gift box', and now you are performing subtask 'open the lid of 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000874/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9013658647388662, -0.43305840008427976 ], [ -0.43714253264626685, -0.8993922426570109 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.9816584686362221, 0.19064797652948634 ] ] }, { "task_id": "0000875", "id": "RH20T_cfg5_task_0002_user_0014_scene_0001_cfg_0005_104122063678#190", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin out of the tissue 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000875/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0898624698353111, 0.9959541839437684 ], [ 0.99978312349009, 0.020825608860232526 ], [ 0.08567287765788194, -0.9963233200291046 ], [ -0.9999999995, 0.0 ] ] }, { "task_id": "0000876", "id": "RH20T_cfg4_task_0010_user_0010_scene_0004_cfg_0004_104122062823#112", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000876/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9740084819989255, -0.22651153832453824 ], [ 0.25449329926669045, 0.9670745372134236 ], [ -0.21139829998340137, -0.9773999993677757 ], [ -0.9840275285062746, 0.17801635638848734 ] ] }, { "task_id": "0000877", "id": "RH20T_cfg3_task_0026_user_0011_scene_0002_cfg_0003_038522062288#128", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000877/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7682212794990152, 0.6401843995825127 ], [ 0.6893763237066239, -0.724403398882653 ], [ -0.8512266581860213, -0.5247982244572275 ], [ -0.5616945319160586, 0.8273447001193638 ] ] }, { "task_id": "0000878", "id": "RH20T_cfg4_task_0008_user_0010_scene_0002_cfg_0004_104122062823#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000878/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9292355371826181, -0.369487911083612 ], [ 0.36244626113618167, 0.9320046714930386 ], [ -0.3611594984963605, -0.9325040571739394 ], [ -0.8792519098508503, 0.47635709192120995 ] ] }, { "task_id": "0000879", "id": "RH20T_cfg4_task_0096_user_0015_scene_0004_cfg_0004_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take something out of a drawer', and now you are performing subtask '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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000879/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9325934044040902, 0.3609287215808534 ], [ 0.3219019402761367, -0.9467730144266147 ], [ -0.9319527150654937, -0.3625798351839977 ], [ -0.31622776599183794, 0.9486832979755138 ] ] }, { "task_id": "0000880", "id": "RH20T_cfg6_task_0032_user_0020_scene_0008_cfg_0006_104122064161#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid of the gift box to close it', and now you are performing subtask 'push the gift box lid to close 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000880/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7371015110311948, -0.6757820376686032 ], [ -0.6148055876581703, -0.7886786984471509 ], [ -0.7753454369546842, 0.6315373729190933 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0000881", "id": "RH20T_cfg2_task_0213_user_0007_scene_0006_cfg_0002_105422061350#238", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife from the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000881/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999984842053188, -0.0017411453312784356 ], [ 0.0, 0.9999999989999999 ], [ -0.11239308441619558, -0.9936638237227992 ], [ -0.9995813239064271, 0.028934009357061856 ] ] }, { "task_id": "0000882", "id": "RH20T_cfg6_task_0025_user_0014_scene_0007_cfg_0006_104122064161#54", "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 'pick up the paper 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000882/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09950371901109793, -0.9950371901109792 ], [ -0.9985139435710519, -0.05449683012970608 ], [ -0.06280382741523254, 0.9980258910779809 ], [ 0.9999121910678971, -0.013251798134491097 ] ] }, { "task_id": "0000883", "id": "RH20T_cfg1_task_0007_user_0004_scene_0004_cfg_0001_039422060546#347", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the block upward towards the cardboard', and now you are performing subtask 'pull the block upwards towards 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000883/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.45437040174218457, -0.8908128524110134 ], [ -0.8620170933635264, -0.5068792072566181 ], [ 0.8574929255654853, 0.5144957553392911 ], [ -0.5408309179354579, 0.8411313323168327 ] ] }, { "task_id": "0000884", "id": "RH20T_cfg4_task_0101_user_0014_scene_0002_cfg_0004_104122062823#78", "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 the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000884/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9262376167645069, 0.37694015080700355 ], [ 0.4004636087074182, -0.9163126639422987 ], [ -0.8728500667107026, -0.48798848453946314 ], [ -0.3713906763311153, 0.9284766908277882 ] ] }, { "task_id": "0000885", "id": "RH20T_cfg6_task_0054_user_0014_scene_0010_cfg_0006_104122063633#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the green object on the table', and now you are performing subtask 'pick up the green object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000885/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7777327758202845, -0.6285950440584741 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.4302013045838731, -0.9027329824119276 ], [ -0.8304798416475659, 0.5570486806528077 ] ] }, { "task_id": "0000886", "id": "RH20T_cfg5_task_0123_user_0007_scene_0002_cfg_0005_104122063678#275", "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 from the cutting 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000886/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, -0.7071067806865474 ], [ -0.795978358601913, -0.6053250801324891 ], [ -0.7021749199007464, 0.7120044816308253 ], [ 0.8000767196193286, 0.5998976935471367 ] ] }, { "task_id": "0000887", "id": "RH20T_cfg7_task_0062_user_0014_scene_0010_cfg_0007_104122064161#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 toilet paper 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000887/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5144957553392911, 0.8574929255654853 ], [ 0.8746801062716658, 0.4847006413164598 ], [ 0.5961793218970921, -0.802851303880316 ], [ -0.7821680666990349, -0.6230675047186253 ] ] }, { "task_id": "0000888", "id": "RH20T_cfg7_task_0017_user_0014_scene_0006_cfg_0007_104122064161#123", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000888/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9924497533020378, 0.12265189428102771 ], [ -0.13158395283102248, -0.9913050304307768 ], [ -0.989068771527165, 0.14745495986824156 ] ] }, { "task_id": "0000889", "id": "RH20T_cfg4_task_0088_user_0014_scene_0007_cfg_0004_104122062823#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000889/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.47427245543895113, -0.8803781221792759 ], [ 0.9096880038450442, 0.41529234958143324 ], [ -0.9526064041451952, -0.3042055863746774 ], [ -0.34496591442679736, 0.9386152128980669 ] ] }, { "task_id": "0000890", "id": "RH20T_cfg3_task_0015_user_0010_scene_0005_cfg_0003_104122062823#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'moving the drumsticks from the table to the drum surface', and now you are performing subtask 'pick up the drumstick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000890/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5052152485710012, 0.8629933676520009 ], [ 0.826675830236876, -0.5626784798640978 ], [ -0.4017051720341954, -0.9157690509953793 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0000891", "id": "RH20T_cfg6_task_0103_user_0014_scene_0008_cfg_0006_104122064161#87", "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 'slide the plate to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000891/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9737679565383759, -0.22754332954203643 ], [ -0.26155005228215233, -0.9651899140330898 ], [ -0.9970564755071617, 0.07667062442185202 ], [ 0.1414213562273095, 0.9899494935911665 ] ] }, { "task_id": "0000892", "id": "RH20T_cfg4_task_0068_user_0015_scene_0005_cfg_0004_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press the button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000892/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7919675529589096, -0.6105631785984779 ], [ -0.5834333094121356, -0.8121610514352455 ], [ 0.5299989399470002, 0.8479983039152004 ], [ -0.8550387873919224, 0.518564048170861 ] ] }, { "task_id": "0000893", "id": "RH20T_cfg6_task_0105_user_0020_scene_0004_cfg_0006_104122064161#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the black object on the shelf', and now you are performing subtask 'pick up the black object from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000893/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9890648932351385, -0.14748097155146508 ], [ 0.0, 0.9999999996666666 ], [ 0.06271184382591857, -0.9980316751706599 ], [ -0.9897197138113106, -0.1430205862568649 ] ] }, { "task_id": "0000894", "id": "RH20T_cfg4_task_0102_user_0014_scene_0011_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000894/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9548828821614956, 0.2969826280356403 ], [ -0.16439898727833027, 0.9863939236699816 ], [ 0.11718600091065365, -0.9931099844380622 ], [ -0.9991193610289766, -0.041958341447794464 ] ] }, { "task_id": "0000895", "id": "RH20T_cfg7_task_0035_user_0014_scene_0007_cfg_0007_104122064161#78", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000895/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2124296443220184, 0.9771763638812847 ], [ 0.9656206726015829, 0.2599552204601145 ], [ 0.33022984502701, -0.9439005506161319 ], [ -0.9848281247572888, -0.17353260410378826 ] ] }, { "task_id": "0000896", "id": "RH20T_cfg2_task_0018_user_0003_scene_0001_cfg_0002_037522062165#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the blocks on the table', and now you are performing subtask 'pull the blocks from the building tower'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000896/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.944202327776821, 0.32936600343817024 ], [ -0.31622776591683793, -0.9486832977505137 ], [ 0.3517742401218258, 0.9360848700768067 ], [ 0.9587373739410587, -0.28429324263619543 ] ] }, { "task_id": "0000897", "id": "RH20T_cfg2_task_0084_user_0014_scene_0007_cfg_0002_105422061350#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000897/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6421758182487323, -0.7665573810593511 ], [ 0.7071067810615475, 0.7071067810615475 ], [ -0.612075888203751, -0.7907990307781044 ], [ -0.6352151163608892, 0.7723352613642744 ] ] }, { "task_id": "0000898", "id": "RH20T_cfg4_task_0039_user_0010_scene_0006_cfg_0004_104122062823#258", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000898/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.869237728051805, -0.49439434880602795 ], [ -0.599792468393204, -0.800155606653348 ], [ -0.7984202477770029, 0.6021005795875879 ], [ 0.59999999988, 0.79999999984 ] ] }, { "task_id": "0000899", "id": "RH20T_cfg4_task_0047_user_0014_scene_0004_cfg_0004_104122062823#126", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000899/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8574929256390147, 0.5144957553834089 ], [ 0.44451667878818546, 0.895770574577621 ], [ 0.9024627236587139, -0.43076795656884215 ], [ -0.49931742157424897, -0.8664191321251187 ] ] }, { "task_id": "0000900", "id": "RH20T_cfg7_task_0015_user_0020_scene_0006_cfg_0007_104122064161#97", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000900/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9425610375330032, -0.33403396612426756 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.2956071413497938, -0.9553095927410146 ], [ -0.9973617745070941, 0.07259125809669205 ] ] }, { "task_id": "0000901", "id": "RH20T_cfg3_task_0004_user_0016_scene_0001_cfg_0003_104122062823#196", "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 right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000901/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7431097080097936, -0.6691696061998029 ], [ -0.6171853396328439, -0.7868178039052567 ], [ -0.8075950434547705, 0.5897374380071925 ], [ 0.7071067810865475, 0.7071067810865475 ] ] }, { "task_id": "0000902", "id": "RH20T_cfg4_task_0103_user_0015_scene_0001_cfg_0004_104122062823#180", "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 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000902/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832977505137, 0.31622776591683793 ], [ 0.24417546454817712, 0.9697310671071037 ], [ 0.9571258508538568, -0.28967241088388196 ], [ -0.26273540546875723, -0.9648679219007997 ] ] }, { "task_id": "0000903", "id": "RH20T_cfg3_task_0052_user_0010_scene_0008_cfg_0003_104122062823#107", "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 blue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000903/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979505138, 0.3162277659835046 ], [ 0.40094982095783654, -0.9161000169598726 ], [ -0.9606154018486028, -0.2778813590927742 ], [ -0.21728791888025467, 0.9761075557072016 ] ] }, { "task_id": "0000904", "id": "RH20T_cfg4_task_0081_user_0007_scene_0007_cfg_0004_104122062823#97", "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 a leg of the glasses outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000904/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271909554714, 0.4472135954777357 ], [ 0.3419466854193432, -0.9397193540258308 ], [ -0.8385486836673784, -0.5448266743834289 ], [ -0.45045760781757793, 0.8927978178508643 ] ] }, { "task_id": "0000905", "id": "RH20T_cfg2_task_0032_user_0003_scene_0006_cfg_0002_037522062165#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid towards the top of the box', and now you are performing subtask 'push the lid up to the top of the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000905/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6391109981265848, 0.769114511677969 ], [ 0.7256029980250961, -0.6881135729347245 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7002683163689287, -0.71387974133591 ] ] }, { "task_id": "0000906", "id": "RH20T_cfg2_task_0071_user_0014_scene_0009_cfg_0002_105422061350#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000906/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5111939086545522, -0.8594654081197691 ], [ -0.826662816736535, -0.5626975985600241 ], [ -0.6262472816134101, 0.7796244879888101 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0000907", "id": "RH20T_cfg5_task_0071_user_0007_scene_0002_cfg_0005_104122063678#202", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000907/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7641877563085757, 0.6449938550932597 ], [ 0.669428655922269, -0.7428763521812392 ], [ -0.6072465852943939, -0.7945134263486668 ] ] }, { "task_id": "0000908", "id": "RH20T_cfg2_task_0031_user_0003_scene_0005_cfg_0002_037522062165#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'fold the lid above the box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000908/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271908999158, -0.4472135954499579 ], [ -0.5438480736178033, 0.8391836943257445 ], [ 0.8587948056517888, 0.5123197066144404 ], [ 0.44179822870490637, -0.8971144437100583 ] ] }, { "task_id": "0000909", "id": "RH20T_cfg4_task_0009_user_0010_scene_0007_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a Hanoi block and put it on the table', and now you are performing subtask 'pick up the Hanoi block from the pillar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000909/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9971629292586335, 0.07527345157717619 ], [ 0.0, 0.9999999989999999 ], [ -0.14554658562558725, -0.9893513993585563 ], [ -0.9961739167921088, 0.08739294881779044 ] ] }, { "task_id": "0000910", "id": "RH20T_cfg4_task_0046_user_0014_scene_0017_cfg_0004_104122062823#104", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000910/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6142131893939382, -0.7891401383623357 ], [ -0.7549961798382184, -0.6557291883313542 ], [ 0.79999999984, 0.59999999988 ], [ -0.7009823030012632, 0.7131786668704031 ] ] }, { "task_id": "0000911", "id": "RH20T_cfg4_task_0062_user_0016_scene_0010_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toilet paper on the holder', and now you are performing subtask 'insert the roll of paper on the paper holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000911/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.18868264893479905, -0.9820381143270089 ], [ -0.8927020698919856, -0.45064732819641173 ], [ 0.9444967966673732, 0.328520624927782 ], [ -0.22981208579652326, 0.9732350205484035 ] ] }, { "task_id": "0000912", "id": "RH20T_cfg6_task_0023_user_0014_scene_0006_cfg_0006_104122064161#34", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000912/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.516136914916501, -0.856506091665714 ], [ 0.8320502943122027, 0.5547001962081352 ], [ -0.8553887848088267, -0.5179865122020832 ], [ -0.5316612073894148, 0.8469571184878428 ] ] }, { "task_id": "0000913", "id": "RH20T_cfg2_task_0070_user_0014_scene_0007_cfg_0002_105422061350#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the handle of the sliding window to open it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000913/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04878934518195562, -0.9988090907659561 ], [ -0.9999697097926691, 0.007783283186751431 ], [ 0.0914202761728922, 0.995812398549281 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0000914", "id": "RH20T_cfg3_task_0015_user_0010_scene_0003_cfg_0003_104122062823#150", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000914/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930395073586941, -0.11778173383340212 ], [ -0.04286012511039415, -0.9990810826331972 ], [ -0.9997817603244078, -0.020890948342006825 ], [ 0.11043152606265141, 0.9938837345638627 ] ] }, { "task_id": "0000916", "id": "RH20T_cfg6_task_0035_user_0014_scene_0006_cfg_0006_104122064161#134", "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 block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000916/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9936903984391429, -0.112157888932779 ], [ 0.0, 0.9999999996666666 ], [ -0.08794384474147851, -0.996125433955025 ], [ -0.9987372999809304, -0.05023749224235969 ] ] }, { "task_id": "0000917", "id": "RH20T_cfg7_task_0047_user_0014_scene_0008_cfg_0007_104122064161#137", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000917/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.6777266201083069, -0.7353139658653103 ], [ -0.6034832569990533, -0.7973756696324605 ], [ -0.73367204275514, 0.6795037407398875 ] ] }, { "task_id": "0000918", "id": "RH20T_cfg2_task_0013_user_0003_scene_0004_cfg_0002_037522062165#207", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000918/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04209333505197143, -0.9991136827930056 ], [ -0.9992829033626124, 0.03786395445787441 ], [ 0.9999999989999999, 0.0 ], [ 0.1525250272073963, 0.9882996084565566 ] ] }, { "task_id": "0000919", "id": "RH20T_cfg6_task_0046_user_0014_scene_0001_cfg_0006_104122064161#175", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000919/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999944731600926, -0.0033247028843235464 ], [ 0.0, 0.9999999999545455 ], [ 0.10076018104841446, -0.9949107426875492 ], [ -0.9939951513718422, -0.1094241246218977 ] ] }, { "task_id": "0000920", "id": "RH20T_cfg6_task_0054_user_0014_scene_0007_cfg_0006_104122063633#114", "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 on the green fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000920/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9723308834586597, 0.2336079045591188 ], [ -0.2425356250216271, 0.9701425000865084 ], [ 0.3295730980013003, -0.9441300615242718 ], [ -0.9802445459462021, -0.1977893580118104 ] ] }, { "task_id": "0000921", "id": "RH20T_cfg3_task_0020_user_0010_scene_0010_cfg_0003_104122062823#202", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000921/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.29104127643532923, 0.9567104971781664 ], [ 0.9613275087088283, -0.2754077359110992 ], [ -0.2107627706499359, -0.977537239448177 ], [ -0.9838699100705743, 0.17888543819464986 ] ] }, { "task_id": "0000922", "id": "RH20T_cfg4_task_0105_user_0007_scene_0006_cfg_0004_104122062823#173", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000922/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9363291774594555, 0.35112344154729586 ], [ 0.30849457559772875, 0.9512261018426572 ], [ 0.9025126544323977, -0.4306633355527117 ], [ -0.3835357039485327, -0.9235260493330458 ] ] }, { "task_id": "0000923", "id": "RH20T_cfg2_task_0007_user_0003_scene_0008_cfg_0002_104122061850#452", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'moving a small block on the left side of the table and placing it in the center of the table', 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000923/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7338885635080136, -0.6792698847675674 ], [ -0.6371257281278643, -0.7707598890429749 ], [ -0.707185319091363, 0.7070282345576074 ] ] }, { "task_id": "0000924", "id": "RH20T_cfg7_task_0013_user_0020_scene_0001_cfg_0007_104122064161#123", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000924/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953500447356243, -0.09632387266296379 ], [ 0.0, 0.9999999996666666 ], [ -0.09937705341289452, -0.9950498486281835 ], [ -0.9999592450855049, -0.009028187416483006 ] ] }, { "task_id": "0000925", "id": "RH20T_cfg3_task_0042_user_0010_scene_0002_cfg_0003_104122062823#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (requires rotation)', and now you are performing subtask 'twist the lid clockwise to screw it onto 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000925/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20244545270299594, -0.9792935406096985 ], [ -0.9875631194291948, 0.15722304266003076 ], [ -0.006705599547165508, 0.9999775172146187 ], [ 0.9922778765905907, -0.12403473457382384 ] ] }, { "task_id": "0000926", "id": "RH20T_cfg2_task_0007_user_0013_scene_0008_cfg_0002_105422061350#373", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block towards the bottom of the table', and now you are performing subtask 'push a small block towards the bottom side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000926/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987598624038019, 0.049786918474020884 ], [ 0.13231036486792772, -0.9912083370051504 ], [ 0.0, 0.9999999998 ], [ -0.9977331059950879, 0.06729523906930325 ] ] }, { "task_id": "0000927", "id": "RH20T_cfg6_task_0102_user_0014_scene_0006_cfg_0006_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000927/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5726947276368521, 0.8197687167347579 ], [ 0.7061150891565517, -0.7080970843503276 ], [ -0.593865137148607, -0.8045646020547177 ], [ -0.79999999984, 0.59999999988 ] ] }, { "task_id": "0000928", "id": "RH20T_cfg5_task_0010_user_0007_scene_0005_cfg_0005_104122063678#244", "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 receiver 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000928/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973208993441828, -0.07315069194006701 ], [ 0.05194724791039036, -0.9986498302380753 ], [ -0.9963387998885632, 0.08549266539661506 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0000929", "id": "RH20T_cfg2_task_0033_user_0003_scene_0003_cfg_0002_037522062165#174", "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 'pick up the block on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000929/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5064528095336555, 0.8622676798509074 ], [ -0.8320502941070744, 0.554700196071383 ], [ 0.8923970667572984, -0.45125101134841794 ], [ -0.6742958023720074, -0.7384613536966514 ] ] }, { "task_id": "0000930", "id": "RH20T_cfg2_task_0017_user_0003_scene_0004_cfg_0002_037522062165#227", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the marker into the pen holder', and now you are performing subtask 'pick up the marker from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000930/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9903961560027454, 0.1382586495485384 ], [ 0.079864542081602, -0.9968057257651043 ], [ 0.0, 0.9999999996666666 ], [ -0.9968805177078145, 0.07892549280555602 ] ] }, { "task_id": "0000931", "id": "RH20T_cfg2_task_0007_user_0003_scene_0004_cfg_0002_104122061850#280", "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 a small block from the left side of the table to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000931/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04696876064511749, 0.9988963587497262 ], [ -0.9999999989999999, 0.0 ], [ 0.9965631825203636, -0.08283612282624403 ], [ -0.009731209706359985, -0.9999526506578454 ] ] }, { "task_id": "0000932", "id": "RH20T_cfg7_task_0053_user_0020_scene_0009_cfg_0007_104122064161#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp on the right plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000932/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9903792040703031, -0.13838002798479668 ], [ -0.0029878923431725358, -0.9999955362397103 ], [ -0.993712449237845, -0.11196235184080153 ] ] }, { "task_id": "0000934", "id": "RH20T_cfg4_task_0081_user_0007_scene_0010_cfg_0004_104122062823#115", "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 cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000934/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7678211615943158, -0.6406642364046519 ], [ -0.5831018561991226, -0.8123990554506683 ], [ 0.6246950475056438, 0.7808688093820547 ], [ -0.8685889562384551, 0.4955332734545595 ] ] }, { "task_id": "0000935", "id": "RH20T_cfg6_task_0018_user_0014_scene_0008_cfg_0006_104122064161#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull out the stacked blocks 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000935/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06331226547322397, 0.9979937660329588 ], [ -0.9999999989999999, 0.0 ], [ 0.9999939509529513, -0.0034782262011900694 ], [ -0.04919035931168752, -0.9987894215252718 ] ] }, { "task_id": "0000937", "id": "RH20T_cfg7_task_0050_user_0014_scene_0006_cfg_0007_104122064161#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the plate to the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000937/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8921588102966851, -0.4517218803755288 ], [ -0.3492560210085959, -0.9370273378025015 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9814934437017266, 0.19149574400107594 ] ] }, { "task_id": "0000938", "id": "RH20T_cfg4_task_0031_user_0016_scene_0010_cfg_0004_104122062823#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from beside the black 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000938/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7015406249249958, 0.7126294630309965 ], [ -0.707106781130992, 0.707106781130992 ], [ 0.6751942658700832, -0.7376399550838875 ], [ -0.7376417914254644, -0.6751922596880326 ] ] }, { "task_id": "0000939", "id": "RH20T_cfg5_task_0123_user_0007_scene_0003_cfg_0005_104122063678#210", "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 from the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000939/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5166943154666629, 0.8561699506315534 ], [ 0.8737628647925134, -0.48635219348696274 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.6485486577056373, -0.7611731988110302 ] ] }, { "task_id": "0000940", "id": "RH20T_cfg2_task_0041_user_0007_scene_0006_cfg_0002_037522062165#352", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'clean the table with a sponge'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000940/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9958747558021245, 0.09073847450811091 ], [ 0.039379974821581516, -0.9992243079424418 ], [ -0.9975248439815018, -0.07031490339665251 ] ] }, { "task_id": "0000941", "id": "RH20T_cfg4_task_0101_user_0014_scene_0009_cfg_0004_104122062823#79", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000941/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.961242847810655, 0.27570307856979387 ], [ 0.3602700636330717, -0.9328480483175289 ], [ -0.31040178170531874, 0.9506054564725386 ], [ -0.922258689292288, -0.3865732919187135 ] ] }, { "task_id": "0000943", "id": "RH20T_cfg5_task_0103_user_0007_scene_0008_cfg_0005_104122063678#199", "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 to the target point'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000943/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.727878744982036, 0.6857058644953945 ], [ 0.7576746313806638, -0.6526324792424718 ], [ -0.6710514995018032, -0.7414107397498242 ], [ -0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0000944", "id": "RH20T_cfg6_task_0032_user_0014_scene_0003_cfg_0006_104122064161#60", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000944/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9491108477544579, 0.31494221481855084 ], [ 0.058767133602535854, -0.9982717185256436 ], [ -0.1961161350997225, 0.9805806754986125 ], [ -0.945043017474527, -0.32694601255045286 ] ] }, { "task_id": "0000945", "id": "RH20T_cfg7_task_0025_user_0014_scene_0006_cfg_0007_104122064161#69", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end pressed down by a heavy object', and now you are performing subtask 'fold a piece of 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000945/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8800999513223977, -0.4747884536109879 ], [ 0.3656523724108388, 0.9307514934094079 ], [ -0.24411965698023003, -0.9697451175828908 ], [ -0.9684514779945238, 0.2492021965597863 ] ] }, { "task_id": "0000946", "id": "RH20T_cfg4_task_0080_user_0007_scene_0009_cfg_0004_104122062823#124", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000946/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4961389382952954, 0.8682431420167669 ], [ 0.847196131738513, 0.5312802597191995 ], [ 0.45261246660658183, -0.8917073259048094 ], [ -0.8001084461054516, -0.5998553779626549 ] ] }, { "task_id": "0000947", "id": "RH20T_cfg2_task_0002_user_0002_scene_0009_cfg_0002_104122061850#123", "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 napkin holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000947/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.6456590032059092, -0.7636258583751284 ], [ -0.594203799069089, -0.8043145188120513 ], [ -0.6648724475818987, 0.7469569120414211 ] ] }, { "task_id": "0000948", "id": "RH20T_cfg5_task_0001_user_0014_scene_0009_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 from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000948/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9938195707461055, 0.11100748083812535 ], [ -0.1266974225236977, -0.9919414111356838 ], [ 0.0, 0.9999999996666666 ], [ -0.9959825503938181, -0.08954752543217341 ] ] }, { "task_id": "0000949", "id": "RH20T_cfg6_task_0039_user_0014_scene_0010_cfg_0006_104122064161#121", "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 with water 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000949/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956441524962808, 0.09323476604766481 ], [ 0.20763733074414573, -0.9782058775541304 ], [ -0.9568386930412167, -0.2906195373665995 ], [ -0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0000950", "id": "RH20T_cfg4_task_0090_user_0014_scene_0010_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the wooden block to the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000950/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990432667784238, 0.04373272349963051 ], [ 0.11521661719865199, -0.9933403903603735 ], [ -0.9974018356987515, -0.07203872670141308 ], [ -0.09480909262350105, 0.9954954725467611 ] ] }, { "task_id": "0000951", "id": "RH20T_cfg3_task_0061_user_0010_scene_0001_cfg_0003_104122062823#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the square out of the gift box and put it on the left side of the table', and now you are performing subtask 'pick up the block in the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000951/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9229304864379646, 0.38496664427373717 ], [ 0.17318938521215563, -0.9848885403180584 ], [ -0.9662300926167727, -0.2576808260654697 ], [ -0.3162277659835046, 0.9486832979505138 ] ] }, { "task_id": "0000952", "id": "RH20T_cfg5_task_0012_user_0010_scene_0007_cfg_0005_104122063678#226", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000952/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.842555727899035, -0.5386091768476724 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.5604516619437793, -0.8281871374420493 ], [ -0.8994062993691799, 0.4371136106952483 ] ] }, { "task_id": "0000953", "id": "RH20T_cfg7_task_0008_user_0020_scene_0008_cfg_0007_104122064161#66", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000953/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776596683794, 0.9486832979005138 ], [ 0.9692642572107211, -0.24602194961781168 ], [ -0.18183264580195843, -0.9833294915340735 ], [ -0.9535399678113783, 0.3012665427595233 ] ] }, { "task_id": "0000954", "id": "RH20T_cfg2_task_0080_user_0014_scene_0010_cfg_0002_105422061350#262", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000954/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6369508436342696, 0.7709044187145332 ], [ 0.7012996146331341, 0.7128666428690696 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6154492398096773, -0.7881765241477892 ] ] }, { "task_id": "0000955", "id": "RH20T_cfg6_task_0023_user_0014_scene_0010_cfg_0006_104122064161#62", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000955/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9966448212862705, -0.08184803115077412 ], [ -0.01741288236024061, 0.9998483842702894 ], [ 0.9888786476542607, -0.1487246456155825 ], [ 0.0, -0.9999999995 ] ] }, { "task_id": "0000956", "id": "RH20T_cfg3_task_0020_user_0011_scene_0003_cfg_0003_038522062288#87", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000956/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9863052258841319, -0.164930292528848 ], [ 0.09053574603432181, 0.9958932063775399 ], [ 0.05338081245275811, -0.9985742280180695 ], [ -0.9998950881691852, -0.014484911292006762 ] ] }, { "task_id": "0000958", "id": "RH20T_cfg6_task_0209_user_0014_scene_0002_cfg_0006_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000958/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9932800124672551, 0.11573597899119223 ], [ -0.0156556897920972, -0.999877442178357 ], [ -0.9938405428743686, -0.11081956207809279 ], [ 0.0, 0.9999999998 ] ] }, { "task_id": "0000959", "id": "RH20T_cfg4_task_0124_user_0007_scene_0004_cfg_0004_104122062823#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lever', and now you are performing subtask 'push down the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000959/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.052807474566776494, -0.9986047119004993 ], [ -0.9901006399108391, 0.1403592634924648 ], [ 0.032366843502073986, 0.9994760564624409 ], [ 0.9999999999818182, 0.0 ] ] }, { "task_id": "0000960", "id": "RH20T_cfg3_task_0042_user_0010_scene_0003_cfg_0003_104122062823#-13", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid clockwise', and now you are performing subtask 'twist the lid 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000960/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0436850755437344, -0.9990453514104043 ], [ 0.9999999999090909, 0.0 ], [ -0.9992759892835222, -0.038045988506516665 ], [ 0.09095350575858091, 0.9958551399627477 ] ] }, { "task_id": "0000961", "id": "RH20T_cfg4_task_0007_user_0010_scene_0010_cfg_0004_104122062823#174", "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 'pick up the small 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000961/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5102282392422222, -0.8600390362534608 ], [ 0.8320502942609206, 0.5547001961739471 ], [ -0.8730690174110116, -0.48759664768840527 ], [ -0.5892815343369247, 0.807927764895798 ] ] }, { "task_id": "0000962", "id": "RH20T_cfg5_task_0047_user_0010_scene_0006_cfg_0005_104122063678#241", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the cup to the left', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000962/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.98147238711141, -0.191603636024556 ], [ -0.3184936047317916, -0.9479250095576913 ], [ -0.9285782051631895, 0.3711367900059353 ] ] }, { "task_id": "0000963", "id": "RH20T_cfg2_task_0070_user_0014_scene_0001_cfg_0002_105422061350#278", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the window to the open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000963/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11332480198015604, 0.9935579949133109 ], [ -0.9999999989999999, 0.0 ], [ 0.9895001765336797, 0.14453165964527218 ], [ 0.037540443914436145, -0.9992951090997629 ] ] }, { "task_id": "0000964", "id": "RH20T_cfg5_task_0070_user_0007_scene_0010_cfg_0005_104122063678#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pull the handle of the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000964/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.852748174350807, -0.5223222675143822 ], [ -0.5253188918548626, -0.8509054364971347 ], [ -0.9142548821036602, 0.40513949517372705 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0000965", "id": "RH20T_cfg3_task_0060_user_0010_scene_0004_cfg_0003_104122062823#189", "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 'turn the knob counterclockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000965/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9518149222389545, -0.30667304055500705 ], [ -0.2661755179840851, -0.9639245788057819 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9516388967032584, 0.30721883126104943 ] ] }, { "task_id": "0000966", "id": "RH20T_cfg5_task_0004_user_0010_scene_0007_cfg_0005_104122063678#339", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000966/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7492563019718648, 0.6622801476380263 ], [ 0.739951351245569, -0.672660388152786 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6218262069341168, -0.7831552645356659 ] ] }, { "task_id": "0000967", "id": "RH20T_cfg5_task_0020_user_0010_scene_0006_cfg_0005_104122063678#470", "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 desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000967/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9926361271113179, -0.12113430213380409 ], [ 0.0, 0.9999999989999999 ], [ 0.14626072851569952, -0.9892460762085725 ], [ -0.9910678635280445, -0.13335850134864705 ] ] }, { "task_id": "0000968", "id": "RH20T_cfg4_task_0118_user_0007_scene_0009_cfg_0004_104122062823#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'twist the faucet handle counterclockwise to turn on the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000968/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9824715398501401, 0.1864126427699971 ], [ 0.3349466971509223, -0.9422370774214356 ], [ -0.22485950669538762, 0.9743911956800131 ], [ -0.9821476336899736, -0.18811173710639498 ] ] }, { "task_id": "0000969", "id": "RH20T_cfg5_task_0081_user_0007_scene_0008_cfg_0005_104122063678#195", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000969/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7429896162196709, 0.669302943508951 ], [ 0.7073434323389924, -0.7068700508062945 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7919442899811957, -0.6105933520487921 ] ] }, { "task_id": "0000970", "id": "RH20T_cfg4_task_0014_user_0007_scene_0007_cfg_0004_104122062823#191", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000970/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988690525755635, 0.04754593365153662 ], [ -0.11963772764580283, -0.9928176137255769 ], [ 0.0, 0.9999999999 ], [ -0.9999549710289328, -0.009489779477207113 ] ] }, { "task_id": "0000971", "id": "RH20T_cfg1_task_0038_user_0015_scene_0007_cfg_0001_750612070851#106", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000971/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4975205184838104, -0.8674522083017603 ], [ 0.9191450298973682, 0.3939192985274435 ], [ -0.8878192819880328, -0.4601922669170505 ], [ -0.4048839591633247, 0.9143680766585365 ] ] }, { "task_id": "0000973", "id": "RH20T_cfg4_task_0062_user_0007_scene_0004_cfg_0004_104122062823#154", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000973/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11601809822790092, 0.9932470996099517 ], [ -0.9999999998333333, 0.0 ], [ 0.9995958707276729, 0.02842701574533649 ], [ 0.031196801233732536, -0.9995132613391295 ] ] }, { "task_id": "0000974", "id": "RH20T_cfg1_task_0016_user_0014_scene_0005_cfg_0001_750612070853#129", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000974/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6245901547511803, -0.7809527121330053 ], [ -0.8276428913476979, -0.5612550618049007 ], [ 0.8137334711121403, 0.5812381936515288 ], [ -0.5594157204794658, 0.8288872370114287 ] ] }, { "task_id": "0000975", "id": "RH20T_cfg1_task_0013_user_0005_scene_0005_cfg_0001_750612070853#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on the scale', and now you are performing subtask 'transfer the wooden block from beside the tissue paper to the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000975/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.19860133967154145, -0.9800803578690214 ], [ -0.9872418423837843, 0.15922796439906883 ], [ 0.9988681376769262, -0.047565149413186965 ], [ 0.07708416646256254, 0.99702458910539 ] ] }, { "task_id": "0000976", "id": "RH20T_cfg5_task_0053_user_0007_scene_0008_cfg_0005_104122063678#320", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the clamp and clamp it onto the edge of the plate', and now you are performing subtask 'pick up the clamp 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000976/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.022528255401115447, -0.9997462066487585 ], [ -0.9980403415980815, -0.06257376880758125 ], [ 0.01610098838436036, 0.9998703706846437 ], [ 0.9999999996666666, 0.0 ] ] }, { "task_id": "0000977", "id": "RH20T_cfg4_task_0201_user_0010_scene_0003_cfg_0004_104122062823#206", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000977/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.005658642077686916, -0.9999839897567544 ], [ -0.9992866863349329, 0.0377639843468545 ], [ 0.9999999989999999, 0.0 ], [ 0.14883534089617223, 0.9888619930507595 ] ] }, { "task_id": "0000978", "id": "RH20T_cfg5_task_0075_user_0007_scene_0009_cfg_0005_104122063678#361", "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 knight 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000978/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9991064875452986, -0.042263773434183624 ], [ -0.03757524396450278, -0.9992938011621048 ], [ -0.995684252432411, 0.09280554648355349 ] ] }, { "task_id": "0000979", "id": "RH20T_cfg1_task_0014_user_0015_scene_0010_cfg_0001_750612070851#160", "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 block 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000979/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2868561648906854, 0.9579736638677536 ], [ 0.9961866185484067, 0.08724804310178745 ], [ 0.14360419919342904, -0.9896352024731204 ], [ -0.9805806754986125, -0.1961161350997225 ] ] }, { "task_id": "0000980", "id": "RH20T_cfg1_task_0118_user_0014_scene_0003_cfg_0001_819112071037#37", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000980/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.915141880936082, -0.4031319111119462 ], [ -0.438196059359004, -0.8988794210361255 ], [ -0.9446874216882684, 0.3279720648225576 ], [ 0.3609941025522822, 0.9325680982600624 ] ] }, { "task_id": "0000981", "id": "RH20T_cfg4_task_0018_user_0016_scene_0004_cfg_0004_104122062823#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull a block from the block pile'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000981/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9508019139691886, 0.3097994841708551 ], [ 0.206747420734173, -0.9783943499529046 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9131817979895309, -0.4075524552994467 ] ] }, { "task_id": "0000982", "id": "RH20T_cfg6_task_0044_user_0014_scene_0004_cfg_0006_104122064161#225", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000982/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7333085496573424, -0.6798960001349069 ], [ -0.7509154367045459, -0.6603983698638431 ], [ -0.782477284666384, 0.6226791300349825 ], [ 0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0000983", "id": "RH20T_cfg4_task_0075_user_0007_scene_0003_cfg_0004_038522062288#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the white 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000983/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9406309886402093, 0.33943091080475024 ], [ 0.35022281394277377, -0.936666419059638 ], [ -0.9766020038637867, -0.21505470478284486 ], [ -0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0000984", "id": "RH20T_cfg1_task_0016_user_0005_scene_0010_cfg_0001_750612070853#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000984/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956338402894599, 0.09334482347973233 ], [ -0.1289083834044318, -0.991656507409726 ], [ 0.0, 0.9999999989999999 ], [ -0.9905967232312505, -0.13681422412713304 ] ] }, { "task_id": "0000985", "id": "RH20T_cfg4_task_0070_user_0007_scene_0008_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to one side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000985/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9982598716627439, 0.05896803055793961 ], [ 0.09914918430724626, -0.9950725798911393 ], [ -0.9837225332855918, -0.17969412206908114 ], [ -0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0000986", "id": "RH20T_cfg4_task_0062_user_0015_scene_0002_cfg_0004_104122062823#127", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000986/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9365387639327238, -0.3505640364489288 ], [ 0.35112344156784375, 0.93632917751425 ], [ -0.25798575313241706, -0.966148721046972 ], [ -0.9593914750714299, 0.28207799907165065 ] ] }, { "task_id": "0000987", "id": "RH20T_cfg4_task_0017_user_0016_scene_0009_cfg_0004_038522062288#132", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000987/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.92789792638136, 0.37283433079207184 ], [ 0.42361907216676187, 0.9058404283849181 ], [ -0.3846153845857988, -0.9230769230059171 ], [ 0.9665013567738568, -0.25666150345210326 ] ] }, { "task_id": "0000988", "id": "RH20T_cfg1_task_0021_user_0005_scene_0002_cfg_0001_750612070853#129", "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 to turn off the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000988/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8936280969360504, -0.4488082267143207 ], [ 0.3939192985274435, -0.9191450298973682 ], [ -0.4377281276465786, 0.8991073830566739 ], [ 0.907592400134003, 0.41985239694325893 ] ] }, { "task_id": "0000989", "id": "RH20T_cfg2_task_0005_user_0002_scene_0002_cfg_0002_104122061850#228", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000989/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9229356242805244, -0.38495432642577043 ], [ -0.3080241721069194, 0.9513785310789008 ], [ 0.9616130996106221, 0.2744089041143745 ], [ 0.31622776591683793, -0.9486832977505137 ] ] }, { "task_id": "0000990", "id": "RH20T_cfg2_task_0008_user_0013_scene_0004_cfg_0002_037522062165#238", "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 'place the block at the designated position 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000990/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.13269845440548306, -0.9911564559636364 ], [ -0.9965543900361497, 0.08294183323075266 ], [ 0.08894041921546923, 0.9960369480244077 ] ] }, { "task_id": "0000991", "id": "RH20T_cfg4_task_0107_user_0007_scene_0012_cfg_0004_104122062823#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000991/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13568499834413358, -0.9907520281202317 ], [ 0.9578262851294083, 0.28734788553882246 ], [ -0.9366831437770673, -0.3501780806445626 ], [ -0.40268113428093577, 0.9153403214620336 ] ] }, { "task_id": "0000992", "id": "RH20T_cfg3_task_0028_user_0010_scene_0004_cfg_0003_038522062288#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'pick up the handle on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000992/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7058999965064874, 0.7083115098119902 ], [ 0.6168020737796636, -0.7871182895734964 ], [ -0.6549305383848469, 0.7556890827517465 ], [ -0.6618402494554351, -0.7496449054057311 ] ] }, { "task_id": "0000993", "id": "RH20T_cfg4_task_0092_user_0007_scene_0007_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of the clock', and now you are performing subtask 'push the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000993/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067811151189, 0.7071067811151189 ], [ 0.7248202876348852, 0.6889379875089502 ], [ 0.8027359350672947, -0.596334653153442 ], [ -0.7556855520354729, -0.6549346123429747 ] ] }, { "task_id": "0000994", "id": "RH20T_cfg4_task_0022_user_0016_scene_0007_cfg_0004_104122062823#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000994/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9654144850247734, 0.26071991121575594 ], [ 0.12816514820241737, -0.9917528395655101 ], [ -0.9773953925951488, -0.21141959827266438 ], [ -0.10653312363048215, 0.9943091538845 ] ] }, { "task_id": "0000995", "id": "RH20T_cfg5_task_0033_user_0010_scene_0005_cfg_0005_104122063678#265", "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 a block from the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000995/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9902015978379688, -0.1396452492537198 ], [ 0.0, -0.9999999989999999 ], [ -0.05615405598582687, 0.9984221161394317 ], [ 0.9988851726772175, -0.04720605687414882 ] ] }, { "task_id": "0000996", "id": "RH20T_cfg5_task_0001_user_0014_scene_0007_cfg_0005_104122063678#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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000996/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9780640535486923, -0.20830436182639328 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.3592237668681276, -0.9332514587811118 ], [ -0.9455214316880044, 0.3255598596551279 ] ] }, { "task_id": "0000997", "id": "RH20T_cfg2_task_0059_user_0007_scene_0008_cfg_0002_104122063678#365", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'pick up the knob on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000997/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999855054610105, 0.005384131117202134 ], [ 0.0, 0.9999999989999999 ], [ 0.11938464556277488, -0.992848078209275 ], [ -0.9951779846912617, -0.09808556869304902 ] ] }, { "task_id": "0000998", "id": "RH20T_cfg1_task_0022_user_0001_scene_0007_cfg_0001_039422060546#143", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000998/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.02375276437104234, -0.9997178632918059 ], [ 0.9999999989999999, 0.0 ], [ -0.9999865110751972, 0.005194003047228424 ], [ 0.1170716878573469, 0.9931234665952829 ] ] }, { "task_id": "0000999", "id": "RH20T_cfg5_task_0059_user_0007_scene_0006_cfg_0005_104122063678#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0000999/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9375890589148572, 0.34774524670101886 ], [ 0.3082923326653199, -0.9512916680071237 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9045813127512469, -0.4263011243490112 ] ] }, { "task_id": "0001000", "id": "RH20T_cfg4_task_0019_user_0016_scene_0003_cfg_0004_038522062288#379", "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 stone from the bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001000/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.26311740576903186, 0.9647638211531168 ], [ 0.9820458524006741, 0.1886423700620666 ], [ 0.3986841985115036, -0.9170882781157111 ], [ -0.9227091136473493, -0.38549694109308197 ] ] }, { "task_id": "0001001", "id": "RH20T_cfg4_task_0126_user_0007_scene_0001_cfg_0004_104422070011#187", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001001/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8313298137359136, 0.5557793993967491 ], [ -0.59999999988, 0.79999999984 ], [ 0.5268926824825345, -0.8499318214694395 ], [ -0.8140764664354695, -0.5807577005911673 ] ] }, { "task_id": "0001002", "id": "RH20T_cfg3_task_0033_user_0010_scene_0007_cfg_0003_104122062823#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pushing one block to put the other small block onto the black circle', and now you are performing subtask 'pick up the block on the right side of the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001002/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5854905538179893, 0.8106792283633698 ], [ 0.8598265219852398, -0.5105862827091677 ], [ -0.5515784094597856, -0.8341230474083624 ], [ -0.8097334602623941, 0.5867978555955108 ] ] }, { "task_id": "0001003", "id": "RH20T_cfg4_task_0089_user_0015_scene_0008_cfg_0004_038522062288#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the larger box to the left while avoiding the smaller 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001003/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.932630111816204, 0.36083386001551293 ], [ 0.4455655543344785, -0.8952493154371072 ], [ -0.9792083308117806, -0.20285720314745215 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0001004", "id": "RH20T_cfg6_task_0062_user_0014_scene_0008_cfg_0006_104122063633#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toilet paper on the toilet paper holder', and now you are performing subtask 'pick up the tissue from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001004/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9278218181514596, -0.3730236906177944 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.12071088195148437, -0.9926877066723929 ], [ -0.9457779862654354, 0.32481379388150655 ] ] }, { "task_id": "0001005", "id": "RH20T_cfg5_task_0013_user_0007_scene_0002_cfg_0005_104122063678#324", "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 beside the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001005/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8757236612114274, 0.4828126646997292 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.392688898485089, -0.9196713701135681 ], [ -0.9111578690410344, -0.4120574446416439 ] ] }, { "task_id": "0001006", "id": "RH20T_cfg1_task_0031_user_0015_scene_0002_cfg_0001_750612070851#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'press the box to the top of the packaging material'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001006/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4166547104774317, -0.909064822859851 ], [ -0.8917148078271663, -0.4525977259131556 ], [ -0.38483246399017257, 0.922986443377828 ], [ 0.8597907340752133, 0.5106465446846831 ] ] }, { "task_id": "0001007", "id": "RH20T_cfg4_task_0104_user_0007_scene_0007_cfg_0004_104122062823#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'hold the plate in place'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001007/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9755440757673366, -0.21980390404916184 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.2765826368358758, -0.960990137827082 ], [ -0.9225219339281111, 0.3859446610869721 ] ] }, { "task_id": "0001008", "id": "RH20T_cfg7_task_0046_user_0014_scene_0004_cfg_0007_104122064161#104", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001008/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5547001961739471, 0.8320502942609206 ], [ 0.7926173466640802, -0.6097193959250379 ], [ -0.6154796865241614, -0.7881527488222826 ], [ -0.7494720863681131, 0.662035944458477 ] ] }, { "task_id": "0001009", "id": "RH20T_cfg5_task_0002_user_0014_scene_0002_cfg_0005_104122063678#182", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the toilet paper in the tissue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001009/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.46337675848848775, 0.8861613733923983 ], [ 0.8568206643263419, -0.5156145354655609 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.5263537835689047, -0.8502656611452085 ] ] }, { "task_id": "0001010", "id": "RH20T_cfg2_task_0071_user_0014_scene_0006_cfg_0002_105422061350#135", "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 the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001010/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.42219630685171444, -0.9065044282742214 ], [ -0.9460139084843062, 0.3241260325155117 ], [ 0.49095633070687894, 0.871184183361267 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0001011", "id": "RH20T_cfg5_task_0089_user_0007_scene_0010_cfg_0005_104122063678#215", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the small square block downwards towards 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001011/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5010045877882399, 0.8654446273535563 ], [ -0.8320502941070744, 0.554700196071383 ], [ 0.8317662806769949, -0.5551259805924764 ], [ -0.41854553796585064, -0.9081958118428408 ] ] }, { "task_id": "0001012", "id": "RH20T_cfg4_task_0011_user_0016_scene_0009_cfg_0004_104122062823#98", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001012/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9710348668594178, -0.23893783154476178 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.1398669249106189, -0.9901703102578098 ], [ -0.99051559681755, 0.1374003364667383 ] ] }, { "task_id": "0001013", "id": "RH20T_cfg7_task_0051_user_0014_scene_0007_cfg_0007_104122064161#75", "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 rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001013/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999996666666 ], [ -0.9930948386962917, -0.117314284530003 ], [ -0.020776441811978085, 0.9997841464364363 ], [ 0.9932240637616474, -0.11621514171913674 ] ] }, { "task_id": "0001014", "id": "RH20T_cfg1_task_0021_user_0005_scene_0004_cfg_0001_750612070853#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001014/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6360702580991763, 0.7716311468322461 ], [ 0.7985485277984492, 0.6019304351425749 ], [ 0.4869131313436968, -0.8734504007240914 ], [ -0.8320502942609206, -0.5547001961739471 ] ] }, { "task_id": "0001016", "id": "RH20T_cfg6_task_0080_user_0020_scene_0008_cfg_0006_104122064161#106", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001016/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.14957417355540945, -0.9887505077648336 ], [ -0.9996764559735377, 0.025435867828474616 ], [ 0.07915339230819925, 0.9968624481271748 ] ] }, { "task_id": "0001017", "id": "RH20T_cfg3_task_0052_user_0010_scene_0007_cfg_0003_104122062823#232", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001017/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7030266279668693, -0.7111635257586916 ], [ 0.7071067811032142, 0.7071067811032142 ], [ -0.7134847302874053, -0.7006707783593579 ], [ -0.6537942072448907, 0.7566724090205912 ] ] }, { "task_id": "0001018", "id": "RH20T_cfg3_task_0032_user_0010_scene_0008_cfg_0003_104122062823#151", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001018/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.507682585253823, 0.8615441907586602 ], [ -0.7863183387782585, -0.6178215518972031 ], [ 0.8366038605269455, 0.5478083429005179 ], [ 0.6120188601395775, -0.7908431670270991 ] ] }, { "task_id": "0001019", "id": "RH20T_cfg2_task_0004_user_0002_scene_0001_cfg_0002_104122061850#232", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001019/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930897773645051, 0.11735712204258265 ], [ 0.0, 0.9999999989999999 ], [ 0.03724286096070284, -0.9993062440050406 ], [ -0.9947748458420238, 0.1020931245480208 ] ] }, { "task_id": "0001020", "id": "RH20T_cfg2_task_0033_user_0003_scene_0006_cfg_0002_037522062165#261", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a block to push another block onto the black circle', and now you are performing subtask 'pick up the block on the left side of the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001020/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.47300712431062886, -0.8810586021096379 ], [ -0.948344492010306, -0.31724237496544266 ], [ -0.4246102559070912, 0.9053762370299513 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0001021", "id": "RH20T_cfg1_task_0062_user_0010_scene_0009_cfg_0001_819112070044#240", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001021/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.45475068632723276, -0.8906187811206941 ], [ -0.9532309082046966, 0.30224300760025774 ], [ 0.3118874617007428, 0.9501190510845826 ], [ 0.8944271908999158, -0.4472135954499579 ] ] }, { "task_id": "0001022", "id": "RH20T_cfg6_task_0210_user_0014_scene_0009_cfg_0006_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001022/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9914356160827137, 0.13059639796981426 ], [ 0.014821163068232415, -0.9998901605302979 ], [ -0.9965946354153421, -0.08245685333167474 ], [ 0.0, 0.9999999998888889 ] ] }, { "task_id": "0001023", "id": "RH20T_cfg2_task_0205_user_0007_scene_0003_cfg_0002_037522062165#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the kitchen knife 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001023/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973572336408941, 0.07265362003495024 ], [ 0.0, 0.9999999995 ], [ -0.059131509437676644, -0.9982502013982377 ], [ -0.9953620515338791, 0.09619972123799217 ] ] }, { "task_id": "0001024", "id": "RH20T_cfg2_task_0026_user_0003_scene_0003_cfg_0002_037522062165#262", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001024/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3329915523309032, 0.9429298097293645 ], [ -0.8944271907999158, -0.4472135953999579 ], [ 0.8459400014272215, 0.5332780831661025 ], [ 0.3547143761449746, -0.9349747116131438 ] ] }, { "task_id": "0001025", "id": "RH20T_cfg2_task_0083_user_0007_scene_0004_cfg_0002_037522062165#259", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001025/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9943621221236895, 0.10603758807928892 ], [ 0.03789249445938157, -0.9992818215416739 ], [ -0.991921639948649, -0.12685211942093388 ] ] }, { "task_id": "0001026", "id": "RH20T_cfg2_task_0084_user_0007_scene_0001_cfg_0002_037522062165#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the bubble ring from the desk and move it to the right', and now you are performing subtask 'pick up the bubble ring from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001026/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04982700076265333, 0.9987578635460141 ], [ 0.9978310881311758, 0.06582643510743706 ], [ -0.1190497714241427, -0.9928882877362686 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0001027", "id": "RH20T_cfg3_task_0015_user_0011_scene_0005_cfg_0003_104122062823#155", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001027/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.05872202194974621, 0.9982743731456856 ], [ 0.9999001844423062, -0.01412873498379091 ], [ 0.03566768479265768, -0.9993637056955449 ], [ -0.99999931860575, -0.0011673851274616972 ] ] }, { "task_id": "0001028", "id": "RH20T_cfg2_task_0072_user_0014_scene_0009_cfg_0002_105422061350#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the orange 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001028/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.580542524128343, 0.8142299292452302 ], [ 0.9210438008996418, 0.3894590053193547 ], [ 0.3182124585671115, -0.9480194255460562 ], [ -0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0001030", "id": "RH20T_cfg4_task_0103_user_0015_scene_0002_cfg_0004_104122062823#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the plate into the goal', 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001030/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8921956055046874, -0.4516492018349246 ], [ -0.20895650314575445, -0.977924935663826 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.9148167493705058, 0.4038691806404411 ] ] }, { "task_id": "0001031", "id": "RH20T_cfg1_task_0005_user_0004_scene_0001_cfg_0001_039422060546#165", "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 small block's side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001031/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ -0.029387855949008872, -0.9995680836855088 ], [ -0.9911360016395778, -0.13285114321642424 ], [ 0.007404736775440787, 0.9999725845608401 ] ] }, { "task_id": "0001032", "id": "RH20T_cfg7_task_0052_user_0020_scene_0008_cfg_0007_104122064161#124", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001032/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7395010900838628, -0.6731553593077743 ], [ -0.6870418347209387, -0.7266178619764907 ], [ -0.8051115737549189, 0.5931233883483923 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0001033", "id": "RH20T_cfg5_task_0089_user_0007_scene_0006_cfg_0005_104122063678#198", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block from the current position to the golden piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001033/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.0804914720913708, 0.9967552974128425 ], [ 0.9924118638003487, 0.12295809281343847 ], [ -0.09027306112879953, -0.9959170519849713 ] ] }, { "task_id": "0001034", "id": "RH20T_cfg3_task_0015_user_0011_scene_0003_cfg_0003_104122062823#131", "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 surface of the drum'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001034/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999296374583025, 0.011862551686193535 ], [ 0.10355326941094496, -0.9946239090200397 ], [ -0.9764596532838338, -0.2157001286712996 ], [ -0.1414213562273095, 0.9899494935911665 ] ] }, { "task_id": "0001035", "id": "RH20T_cfg4_task_0012_user_0010_scene_0007_cfg_0004_104122062823#146", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001035/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.18783669470820416, -0.9822002729184598 ], [ -0.959050580725617, -0.2832348559232371 ], [ 0.9486832979905138, 0.31622776599683794 ], [ -0.4550570644093498, 0.8904622777698923 ] ] }, { "task_id": "0001037", "id": "RH20T_cfg6_task_0090_user_0020_scene_0008_cfg_0006_104122064161#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the cup', and now you are performing subtask 'pull the cup up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001037/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6097107608125176, 0.7926239890562728 ], [ 0.8679822066626113, -0.49659529691400006 ], [ -0.528438177226612, -0.8489717856615824 ], [ -0.8292727926824234, 0.5588440169821042 ] ] }, { "task_id": "0001038", "id": "RH20T_cfg4_task_0218_user_0010_scene_0010_cfg_0004_104122062823#137", "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 light 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001038/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9827496916741182, -0.18494064862659504 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.36754175025532165, -0.9300070224569569 ], [ -0.9523200175558547, 0.3051009409399072 ] ] }, { "task_id": "0001039", "id": "RH20T_cfg4_task_0218_user_0010_scene_0010_cfg_0004_104122062823#431", "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 light holder into the socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001039/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9894249042167275, 0.1450460579116846 ], [ 0.020413741088110997, -0.999791617875839 ], [ -0.9878440428467913, -0.1554482132805219 ], [ 0.0, 0.9999999998571428 ] ] }, { "task_id": "0001040", "id": "RH20T_cfg6_task_0124_user_0020_scene_0005_cfg_0006_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever on the workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001040/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3031257550514002, -0.9529505635784674 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.9448857289701829, -0.3274003041973026 ], [ -0.45992699400430953, 0.8879567332849951 ] ] }, { "task_id": "0001041", "id": "RH20T_cfg6_task_0033_user_0014_scene_0002_cfg_0006_104122064161#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to sweep another small block into the specified position', and now you are performing subtask 'pick up the block on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001041/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8221460366009588, 0.5692766414506526 ], [ 0.5565308132103248, -0.8308269699206055 ], [ -0.9187790374803582, -0.39477218783327006 ], [ -0.4961389382952954, 0.8682431420167669 ] ] }, { "task_id": "0001042", "id": "RH20T_cfg4_task_0064_user_0016_scene_0005_cfg_0004_104122062823#102", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001042/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.732793491587943, 0.6804510993316614 ], [ 0.6253680963215492, 0.7803298944056685 ], [ 0.6391762986818008, -0.7690602441964046 ], [ -0.6226891912820598, -0.7824692780298114 ] ] }, { "task_id": "0001043", "id": "RH20T_cfg4_task_0104_user_0015_scene_0007_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the plate', and now you are performing subtask 'pick up the plate 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001043/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8678308240356702, 0.496859799997514 ], [ 0.4426472284282881, -0.8966958409431568 ], [ -0.5766831975709417, 0.8169678632255006 ], [ -0.825504912524286, -0.5643949321160414 ] ] }, { "task_id": "0001044", "id": "RH20T_cfg4_task_0128_user_0010_scene_0008_cfg_0004_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the interface', and now you are performing subtask 'pick up the USB drive from between the two wooden blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001044/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.13132839296326299, -0.9913389194426329 ], [ -0.9980220637019568, -0.06286461933462396 ], [ 0.024725591183289077, 0.9996942758366864 ] ] }, { "task_id": "0001045", "id": "RH20T_cfg2_task_0075_user_0014_scene_0006_cfg_0002_105422061350#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'press the white chess piece'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001045/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7469077479775829, 0.6649276772785562 ], [ 0.781394822294186, -0.6240369634018786 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6322012983549733, -0.7748041806535934 ] ] }, { "task_id": "0001046", "id": "RH20T_cfg3_task_0015_user_0010_scene_0006_cfg_0003_104122062823#163", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001046/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.8191939284600009, -0.5735166149069012 ], [ -0.37298673245165603, -0.9278366760454325 ], [ -0.9164139973008307, 0.40023166485313594 ] ] }, { "task_id": "0001047", "id": "RH20T_cfg6_task_0021_user_0014_scene_0008_cfg_0006_104122064161#43", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001047/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8799164754216947, -0.4751283997841659 ], [ 0.4472135954499579, 0.8944271908999158 ], [ -0.49483465860025855, -0.8689871464227568 ], [ -0.8776838685805582, 0.47924005136618686 ] ] }, { "task_id": "0001048", "id": "RH20T_cfg4_task_0015_user_0010_scene_0002_cfg_0004_038522062288#95", "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 wooden surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001048/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10468306096262125, -0.9945056343467824 ], [ -0.9949120201984362, -0.10074756604834972 ], [ 0.9999999998571428, 0.0 ], [ 0.12894999538281343, 0.9916510972568792 ] ] }, { "task_id": "0001050", "id": "RH20T_cfg4_task_0085_user_0007_scene_0004_cfg_0004_104122062823#84", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001050/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562501672515, 0.9701425000669006 ], [ 0.9483798382002779, 0.31713669370669606 ], [ 0.2606739209983381, -0.9654269039711666 ], [ -0.9927182738251253, -0.12045924129623087 ] ] }, { "task_id": "0001051", "id": "RH20T_cfg3_task_0020_user_0011_scene_0007_cfg_0003_104122062823#139", "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 it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001051/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9957797010244512, -0.09177574313321915 ], [ 0.08304547984684342, 0.996545758162121 ], [ -0.05535751672430775, -0.9984665970086921 ], [ -0.9948409221952764, 0.10144722532258843 ] ] }, { "task_id": "0001052", "id": "RH20T_cfg3_task_0075_user_0010_scene_0009_cfg_0003_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black chess piece from the right 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001052/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8596956481883804, -0.5108066096733288 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.547811460897752, -0.8366018188535516 ], [ -0.8032753191935783, 0.5956078924715948 ] ] }, { "task_id": "0001053", "id": "RH20T_cfg3_task_0012_user_0010_scene_0003_cfg_0003_104122062823#139", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001053/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.876565892631437, -0.481281867386724 ], [ 0.5240974256471673, 0.8516583166766469 ], [ -0.5650418070403586, -0.8250622741930249 ], [ -0.9197312669080837, 0.39254859147836885 ] ] }, { "task_id": "0001054", "id": "RH20T_cfg3_task_0020_user_0010_scene_0008_cfg_0003_104122062823#245", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001054/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9798765162088527, -0.19960464168551303 ], [ -0.27930397475307805, -0.9602027336386477 ], [ -0.9382538069265635, 0.34594767492759815 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0001055", "id": "RH20T_cfg7_task_0044_user_0014_scene_0008_cfg_0007_104122064161#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001055/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8170573798590383, -0.576556361527547 ], [ 0.636881446974943, 0.7709617516012468 ], [ -0.5203514223161997, -0.8539522219032561 ], [ -0.6976200244642851, 0.7164679347091888 ] ] }, { "task_id": "0001056", "id": "RH20T_cfg7_task_0042_user_0020_scene_0008_cfg_0007_104122064161#104", "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 right side of 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001056/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9905148007071585, -0.13740607548452205 ], [ 0.14700225002519499, -0.9891361577091043 ], [ -0.9993916674760246, -0.03487542085037859 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001057", "id": "RH20T_cfg6_task_0012_user_0014_scene_0010_cfg_0006_104122064161#75", "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 towards 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001057/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8523446268174075, -0.5229805322719905 ], [ 0.59999999994, 0.79999999992 ], [ -0.5450496027007526, -0.8384037992493544 ], [ -0.8180309740517855, 0.5751741697015671 ] ] }, { "task_id": "0001058", "id": "RH20T_cfg2_task_0028_user_0003_scene_0009_cfg_0002_037522062165#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer handle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001058/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9803668457461756, 0.19718227040404607 ], [ 0.2039241675003757, -0.9789866872993109 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9393930718479505, -0.3428420285846988 ] ] }, { "task_id": "0001059", "id": "RH20T_cfg2_task_0022_user_0003_scene_0005_cfg_0002_037522062165#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the flag onto the table', and now you are performing subtask 'pick up the flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001059/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5883464886387695, -0.8086089347184029 ], [ -0.6986460265458339, -0.7154674902409739 ], [ 0.7071067810615475, 0.7071067810615475 ], [ -0.749361252501289, 0.6621613951671445 ] ] }, { "task_id": "0001061", "id": "RH20T_cfg3_task_0014_user_0011_scene_0010_cfg_0003_104122062823#163", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the small cube from the scale to the table', and now you are performing subtask 'pick up the small cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001061/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.29408584881590144, 0.9557790086516798 ], [ 0.9213957119449966, 0.38862570940349916 ], [ 0.30363401976009347, -0.952788739461339 ], [ -0.9267090686946551, -0.37577959231321373 ] ] }, { "task_id": "0001062", "id": "RH20T_cfg5_task_0011_user_0007_scene_0008_cfg_0005_104122063678#254", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001062/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.045536753843352616, 0.998962663991708 ], [ 0.9979763302962382, -0.06358650932747942 ], [ 0.09640317530461086, -0.9953423671235886 ] ] }, { "task_id": "0001063", "id": "RH20T_cfg4_task_0200_user_0010_scene_0004_cfg_0004_104122062823#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001063/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5654500884106202, 0.824782515282921 ], [ 0.9014997078871454, -0.43277970918169384 ], [ -0.5873838202126765, -0.8093084997405884 ], [ -0.8574929255654853, 0.5144957553392911 ] ] }, { "task_id": "0001064", "id": "RH20T_cfg5_task_0046_user_0007_scene_0005_cfg_0005_037522062165#382", "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 red cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001064/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9303881446611826, -0.3665759133848301 ], [ -0.5167677637916706, -0.8561256206338859 ], [ 0.4472135954499579, 0.8944271908999158 ], [ -0.8890175816418169, 0.4578730605001081 ] ] }, { "task_id": "0001065", "id": "RH20T_cfg6_task_0021_user_0014_scene_0002_cfg_0006_104122064161#62", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001065/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2982749931300156, 0.9544799780160499 ], [ 0.9517121447573778, -0.3069918460176296 ], [ -0.29026207798494363, -0.9569471908542616 ], [ -0.8967188566780567, 0.4426006010818318 ] ] }, { "task_id": "0001066", "id": "RH20T_cfg4_task_0043_user_0014_scene_0003_cfg_0004_036422060909#136", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001066/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832977505137, -0.31622776591683793 ], [ -0.36345837122186514, -0.9316104402531934 ], [ -0.9743703921740116, 0.22494963626257078 ], [ 0.3639558683434215, 0.9314161937063292 ] ] }, { "task_id": "0001067", "id": "RH20T_cfg4_task_0073_user_0007_scene_0003_cfg_0004_104122062823#129", "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 cube from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001067/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4740998230029074, 0.8804710998625422 ], [ 0.9329677772737358, -0.35995989577855053 ], [ -0.41310644549513686, -0.9106827464547539 ], [ -0.9303349723201398, 0.3667108387791184 ] ] }, { "task_id": "0001068", "id": "RH20T_cfg4_task_0073_user_0007_scene_0003_cfg_0004_104122062823#269", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the cube in 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001068/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999012930195802, -0.014050061130533096 ], [ -0.12563140605352469, 0.9920769878457087 ], [ 0.0, -0.9999999999677419 ], [ 0.9993952452937622, -0.03477274340946893 ] ] }, { "task_id": "0001069", "id": "RH20T_cfg4_task_0103_user_0015_scene_0004_cfg_0004_104122062823#112", "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 'pick up the plate 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001069/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9785517776795012, 0.2060010155321769 ], [ -0.12403473458151616, 0.9922778766521293 ], [ 0.04886861560546704, -0.9988052154493414 ], [ -0.968712623397967, -0.2481851189524233 ] ] }, { "task_id": "0001070", "id": "RH20T_cfg2_task_0031_user_0003_scene_0010_cfg_0002_037522062165#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'cover the box lid'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001070/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4490988523233962, -0.8934820763965041 ], [ -0.8553970346921895, 0.517972888325064 ], [ 0.5420570701236439, 0.8403416761823557 ], [ 0.8944271908665825, -0.44721359543329126 ] ] }, { "task_id": "0001071", "id": "RH20T_cfg4_task_0218_user_0010_scene_0004_cfg_0004_104122062823#148", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001071/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8886141147838946, 0.4586555951984401 ], [ -0.4472135954499579, 0.8944271908999158 ], [ 0.4289389744477108, -0.9033334689912392 ], [ -0.9092378165206231, -0.4162770627944925 ] ] }, { "task_id": "0001072", "id": "RH20T_cfg4_task_0218_user_0010_scene_0004_cfg_0004_104122062823#420", "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 light bulb 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001072/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999918951529, -0.00012731729754395085 ], [ -0.019986800182943163, -0.9998002439579854 ], [ -0.11043152606265141, 0.9938837345638627 ], [ -0.9945736996775318, -0.10403439772376696 ] ] }, { "task_id": "0001073", "id": "RH20T_cfg2_task_0004_user_0006_scene_0006_cfg_0002_037522062165#397", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001073/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.991627624641353, -0.12913037616358128 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.14934899393090922, -0.9887845457994503 ], [ -0.9989836863102523, 0.04507321251008876 ] ] }, { "task_id": "0001075", "id": "RH20T_cfg4_task_0125_user_0010_scene_0007_cfg_0004_104122062823#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'adjust the lever to a vertical position', and now you are performing subtask 'pull the lever up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001075/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9922778765905907, 0.12403473457382384 ], [ 0.07699865921882028, 0.9970311963416711 ], [ 0.9851344298532554, -0.1717852005200138 ], [ -0.04448919046239562, -0.9990098657831167 ] ] }, { "task_id": "0001076", "id": "RH20T_cfg4_task_0032_user_0016_scene_0007_cfg_0004_104122062823#121", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001076/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7612432304652487, 0.6484664555815082 ], [ 0.5537399423326234, -0.8326896638396943 ], [ -0.7356141877738456, -0.6774007430951234 ], [ -0.6081840654107703, 0.7937960333614851 ] ] }, { "task_id": "0001077", "id": "RH20T_cfg2_task_0029_user_0003_scene_0010_cfg_0002_037522062165#213", "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 outward to open 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001077/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.828657543987505, 0.5597559064383297 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.360226258094468, 0.9328649650293753 ], [ 0.9163059010712408, -0.4004790826772625 ] ] }, { "task_id": "0001078", "id": "RH20T_cfg4_task_0210_user_0014_scene_0009_cfg_0004_104122062823#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chopping the onions on the cutting board, then placing the knife on the knife rack', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001078/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5554652308055295, 0.8315397629495297 ], [ 0.7390083398840304, -0.6736962769541253 ], [ -0.581566100764263, -0.8134991520842854 ], [ -0.7525766946360813, 0.6585046078065712 ] ] }, { "task_id": "0001079", "id": "RH20T_cfg2_task_0050_user_0013_scene_0010_cfg_0002_105422061350#325", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001079/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13476237391975435, 0.990877945347212 ], [ -0.9999999989999999, 0.0 ], [ 0.9952985217042176, -0.09685480211842465 ], [ -0.11071994662282568, -0.9938516455788755 ] ] }, { "task_id": "0001080", "id": "RH20T_cfg2_task_0026_user_0003_scene_0005_cfg_0002_037522062165#180", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001080/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.655321601818437, 0.7553499839081999 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.7075004603595112, 0.7067128827119822 ], [ 0.677851997503369, -0.7351983878387471 ] ] }, { "task_id": "0001081", "id": "RH20T_cfg6_task_0063_user_0007_scene_0004_cfg_0006_104122063633#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a shovel to scoop up a Rubik's cube', and now you are performing subtask 'pick up the shovel from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001081/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8941438210635727, 0.44777988705817695 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.37282636789305296, -0.9279011258769299 ], [ -0.9025064530324169, -0.4306763311755658 ] ] }, { "task_id": "0001084", "id": "RH20T_cfg3_task_0023_user_0010_scene_0007_cfg_0003_104122062823#138", "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 outlet to turn on the power'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001084/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9998049699210875, 0.019748977722741284 ], [ -0.0070909266953696065, 0.9999748590632672 ], [ 0.9978349732859351, 0.06576751544233082 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0001085", "id": "RH20T_cfg4_task_0047_user_0014_scene_0020_cfg_0004_104122062823#96", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001085/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06708386666858189, 0.9977473401782597 ], [ -0.9999999998571428, 0.0 ], [ 0.9973523206726325, 0.07272103168213802 ], [ 0.13967922167244184, -0.9901968062122706 ] ] }, { "task_id": "0001086", "id": "RH20T_cfg4_task_0064_user_0007_scene_0007_cfg_0004_104122062823#132", "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 down the roll of paper 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001086/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7678286792037815, -0.6406552266173878 ], [ -0.6224369435770368, -0.7826699504072433 ], [ -0.6557111669256638, 0.7550118314099351 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001087", "id": "RH20T_cfg6_task_0054_user_0014_scene_0002_cfg_0006_104122063633#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grab the object on the table', and now you are performing subtask 'pick up the object 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001087/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9838699100119074, 0.17888543818398317 ], [ 0.03420839460435429, 0.99941472159389 ], [ 0.9827976878055281, -0.18468542130906712 ], [ -0.2984758333259146, -0.9544171922803995 ] ] }, { "task_id": "0001088", "id": "RH20T_cfg3_task_0024_user_0010_scene_0002_cfg_0003_104122062823#336", "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 to turn off the power'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001088/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.013325105764550607, 0.9999112168369568 ], [ -0.9922778766726421, 0.12403473458408026 ], [ 0.9763386436200586, -0.21624720339034226 ], [ -0.20771088603115323, -0.9781902615668147 ] ] }, { "task_id": "0001089", "id": "RH20T_cfg4_task_0046_user_0014_scene_0008_cfg_0004_104122062823#190", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001089/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196148306, -0.8320502942224591 ], [ -0.8306580333441427, 0.5567829304503159 ], [ 0.4575213485969609, 0.8891986367387313 ], [ 0.8468021394540126, -0.5319080151831772 ] ] }, { "task_id": "0001090", "id": "RH20T_cfg3_task_0066_user_0010_scene_0008_cfg_0003_104122062823#154", "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 the blue block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001090/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.92701439246855, 0.37502575399052945 ], [ 0.1736024800907424, -0.9848158096346461 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9631284256828198, -0.26904207039370864 ] ] }, { "task_id": "0001091", "id": "RH20T_cfg3_task_0066_user_0010_scene_0008_cfg_0003_104122062823#469", "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 'press the blue block on the green base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001091/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562497750944, 0.9701424999100378 ], [ 0.9724339525506248, 0.23317848941694685 ], [ 0.3885321743888483, -0.9214351574932843 ], [ -0.9951744587810858, -0.09812133605782694 ] ] }, { "task_id": "0001092", "id": "RH20T_cfg5_task_0092_user_0007_scene_0003_cfg_0005_104122063678#235", "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 pointer clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001092/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.017071053924283687, 0.9998542789416437 ], [ 0.9965486046282523, -0.08301131617727268 ], [ -0.9999999995, 0.0 ], [ -0.05614318694905762, -0.9984227273851509 ] ] }, { "task_id": "0001093", "id": "RH20T_cfg6_task_0008_user_0014_scene_0006_cfg_0006_104122064161#50", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001093/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9378633318753998, -0.3470048569164036 ], [ -0.5108083275213321, -0.8596946274898195 ], [ -0.9398115929747171, 0.34169309286306165 ], [ 0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0001095", "id": "RH20T_cfg5_task_0026_user_0010_scene_0008_cfg_0005_104122063678#164", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001095/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999988, 0.79999999984 ], [ 0.7597862392728658, -0.6501729543833668 ], [ -0.6055121982741614, -0.7958360244052746 ], [ -0.826907688803858, 0.5623376869791514 ] ] }, { "task_id": "0001096", "id": "RH20T_cfg4_task_0011_user_0016_scene_0005_cfg_0004_104122062823#90", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001096/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.027252413570787323, -0.9996285840023618 ], [ 0.9999999998888889, 0.0 ], [ -0.9999645424188789, 0.008421039425287637 ], [ 0.11419164031412762, 0.9934587406039412 ] ] }, { "task_id": "0001097", "id": "RH20T_cfg7_task_0013_user_0014_scene_0008_cfg_0007_104122064161#102", "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 wooden block above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001097/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.889371071242304, 0.4571860645703417 ], [ 0.5696335091877239, -0.8218988168932228 ], [ -0.9429011644794452, -0.3330726557724403 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0001098", "id": "RH20T_cfg7_task_0046_user_0014_scene_0005_cfg_0007_104122064161#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001098/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7926239890562728, -0.6097107608125176 ], [ -0.7238779042552228, -0.6899280975080422 ], [ -0.8696550734849737, 0.4936598557325123 ], [ 0.5219844530009959, 0.8529549992967104 ] ] }, { "task_id": "0001099", "id": "RH20T_cfg7_task_0052_user_0014_scene_0008_cfg_0007_104122064161#85", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001099/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9302311110645795, 0.366974222538257 ], [ -0.28734788553882246, 0.9578262851294083 ], [ 0.3529634383215426, -0.9356371151297038 ], [ -0.9638382585940938, -0.2664879195579135 ] ] }, { "task_id": "0001100", "id": "RH20T_cfg4_task_0060_user_0016_scene_0005_cfg_0004_104122062823#123", "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 'turn the knob 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001100/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9220559885860102, 0.38705652547486585 ], [ 0.30672375022981824, -0.9517985821826781 ], [ -0.8614976673576596, -0.5077615278231615 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0001101", "id": "RH20T_cfg4_task_0013_user_0010_scene_0003_cfg_0004_104122062823#118", "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 left side of the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001101/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8613134548119505, -0.5080739439883745 ], [ -0.563405569534939, -0.8261804670996592 ], [ 0.554700196148306, 0.8320502942224591 ], [ -0.8244718153231388, 0.5659030179613536 ] ] }, { "task_id": "0001103", "id": "RH20T_cfg5_task_0123_user_0007_scene_0006_cfg_0005_104122063678#243", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001103/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7955949918864297, 0.605828861053377 ], [ -0.6246950474568633, 0.7808688093210792 ], [ 0.6625935515249989, -0.7489791622451781 ], [ -0.8361617180429297, -0.5484829817592304 ] ] }, { "task_id": "0001104", "id": "RH20T_cfg2_task_0044_user_0007_scene_0001_cfg_0002_037522062165#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pull the plastic bag up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001104/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.061814419482394765, -0.9980876602503682 ], [ -0.9940344310754855, 0.10906672194778687 ], [ -0.04588986302609385, 0.9989465053101925 ] ] }, { "task_id": "0001105", "id": "RH20T_cfg4_task_0013_user_0016_scene_0002_cfg_0004_104122062823#117", "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 beside the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001105/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06760744005016314, -0.9977119995519066 ], [ 0.9999999998571428, 0.0 ], [ -0.9948177812074358, 0.10167390124075364 ], [ 0.05960956819058826, 0.9982217686366751 ] ] }, { "task_id": "0001106", "id": "RH20T_cfg2_task_0054_user_0007_scene_0011_cfg_0002_105422061350#196", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001106/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.37370689013804576, -0.9275468507107071 ], [ -0.9731824710922582, 0.23003451471195835 ], [ 0.9284766907128456, -0.3713906762851382 ], [ 0.260156925300101, 0.9655663489467711 ] ] }, { "task_id": "0001107", "id": "RH20T_cfg6_task_0023_user_0014_scene_0003_cfg_0006_104122064161#72", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001107/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994320971064943, 0.033696932698912774 ], [ -0.05547001961944599, 0.9984603531500278 ], [ 0.10652394579093472, -0.9943101372173222 ], [ -0.9995515296352175, -0.029945610761792463 ] ] }, { "task_id": "0001108", "id": "RH20T_cfg3_task_0071_user_0010_scene_0009_cfg_0003_104122062823#270", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'slide the handle of the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001108/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9061831399405209, 0.4228854653055764 ], [ 0.5422135205369527, 0.8402407382095465 ], [ 0.9363787925837742, -0.3509911064391138 ], [ -0.44967095645056254, -0.8931942850941424 ] ] }, { "task_id": "0001109", "id": "RH20T_cfg7_task_0031_user_0020_scene_0004_cfg_0007_104122064161#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001109/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988926227493676, -0.04704814785822772 ], [ 0.013194767486153534, -0.9999129452662299 ], [ -0.9966736705579586, -0.0814959779162503 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001110", "id": "RH20T_cfg4_task_0107_user_0007_scene_0015_cfg_0004_104122062823#139", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001110/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5364675214987185, 0.8439209669021276 ], [ -0.8320502941070744, -0.554700196071383 ], [ 0.889763143397766, 0.456422554932298 ], [ 0.6584031981470228, -0.7526654161510095 ] ] }, { "task_id": "0001111", "id": "RH20T_cfg1_task_0006_user_0004_scene_0008_cfg_0001_039422060546#233", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block backward', and now you are performing subtask 'push the square backward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001111/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.843548517307089, -0.5370529759241743 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.35734308719181573, -0.9339731891420773 ], [ -0.8153240073942666, 0.5790049766336676 ] ] }, { "task_id": "0001112", "id": "RH20T_cfg6_task_0044_user_0020_scene_0003_cfg_0006_104122064161#157", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001112/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9972132295023922, 0.07460412123608982 ], [ 0.06225290410546778, -0.9980604069546269 ], [ -0.9918543749907198, -0.12737699482939832 ] ] }, { "task_id": "0001113", "id": "RH20T_cfg7_task_0010_user_0020_scene_0001_cfg_0007_104122064161#149", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001113/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.762084554151455, -0.6474775149175283 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6606402398226682, -0.7507026532036819 ], [ -0.718089676024312, 0.6959505853056656 ] ] }, { "task_id": "0001115", "id": "RH20T_cfg3_task_0026_user_0011_scene_0006_cfg_0003_104122062823#97", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001115/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9958932064226218, 0.09053574603842017 ], [ 0.18954531782574907, -0.9818719735741193 ], [ -0.9776164828204501, -0.21039489660581748 ], [ -0.13376767610085472, 0.9910127188036373 ] ] }, { "task_id": "0001116", "id": "RH20T_cfg4_task_0046_user_0014_scene_0004_cfg_0004_104122062823#266", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001116/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.8637223002198687, 0.5039680427397148 ], [ 0.4429048379899231, -0.896568627872468 ], [ -0.8467498023529788, -0.5319913271992236 ] ] }, { "task_id": "0001117", "id": "RH20T_cfg4_task_0092_user_0014_scene_0003_cfg_0004_104122062823#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001117/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38461538460798816, 0.9230769230591717 ], [ 0.9494313884278589, -0.31397458283744584 ], [ -0.2497231555007516, -0.9683172752805494 ], [ -0.8630613765583517, 0.5050990598815277 ] ] }, { "task_id": "0001118", "id": "RH20T_cfg4_task_0071_user_0015_scene_0004_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push a sliding window 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001118/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5812381936515288, 0.8137334711121403 ], [ 0.7517624336358942, -0.6594340326172421 ], [ -0.6106688651335004, -0.791886063241779 ], [ -0.7369999974216671, 0.6758927457818014 ] ] }, { "task_id": "0001119", "id": "RH20T_cfg4_task_0091_user_0007_scene_0003_cfg_0004_104122062823#66", "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 from the light blue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001119/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9087487624851793, -0.41734360745272625 ], [ -0.30774546698344524, -0.9514687212678834 ], [ -0.946659466696949, 0.32223571203863793 ], [ 0.4472135954666246, 0.8944271909332492 ] ] }, { "task_id": "0001120", "id": "RH20T_cfg2_task_0001_user_0006_scene_0004_cfg_0002_037522062165#100", "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 yellow block from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001120/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776596683794, 0.9486832979005138 ], [ 0.9461386963284688, -0.32376159023248224 ], [ -0.34158415581708096, -0.9398511927399635 ], [ -0.9140388682076573, 0.4056266108204254 ] ] }, { "task_id": "0001121", "id": "RH20T_cfg4_task_0089_user_0007_scene_0005_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'pick up the small square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001121/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7461387034452887, -0.66579053404279 ], [ -0.7143701019019683, -0.6997680740849582 ], [ 0.719401460599563, 0.6945945136823367 ], [ -0.6290314846563789, 0.7773798243529297 ] ] }, { "task_id": "0001122", "id": "RH20T_cfg4_task_0101_user_0007_scene_0005_cfg_0004_104122062823#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the table to remove stains'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001122/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6257754909065238, -0.7800032275450526 ], [ -0.8273334119554366, -0.561711158392083 ], [ 0.841178475326012, 0.5407575912810078 ], [ -0.627051619403677, 0.7789777061015458 ] ] }, { "task_id": "0001123", "id": "RH20T_cfg5_task_0012_user_0007_scene_0007_cfg_0005_104122063678#228", "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 from the center of the table toward the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001123/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, 0.7071067810198809 ], [ 0.7231740442824989, 0.6906658393724815 ], [ 0.6521299268698044, -0.7581072209659947 ], [ -0.6797943486592304, -0.733402783967291 ] ] }, { "task_id": "0001124", "id": "RH20T_cfg6_task_0209_user_0014_scene_0007_cfg_0006_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife on the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001124/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9847079083259537, 0.17421347617312924 ], [ -0.31622776596683794, 0.9486832979005138 ], [ 0.3087452655685923, -0.9511447634240434 ], [ -0.9856085122798508, -0.16904396032245347 ] ] }, { "task_id": "0001125", "id": "RH20T_cfg2_task_0046_user_0007_scene_0007_cfg_0002_037522062165#717", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001125/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9846022417124001, -0.1748096839849458 ], [ -0.37561774924899705, 0.9267746794389224 ], [ 0.24253562497750944, -0.9701424999100378 ], [ 0.9944965555723545, 0.1047692748601552 ] ] }, { "task_id": "0001126", "id": "RH20T_cfg4_task_0083_user_0007_scene_0009_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter at the black dots on the cardboard', and now you are performing subtask 'pick up the flyswatter 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001126/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8378580194281152, -0.5458882113400109 ], [ -0.34642952477167793, -0.9380760013807354 ], [ 0.4280863447186827, 0.9037378388505523 ], [ -0.9341890803143837, 0.35677830962849477 ] ] }, { "task_id": "0001127", "id": "RH20T_cfg4_task_0093_user_0014_scene_0001_cfg_0004_038522062288#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001127/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1055044715140348, -0.9944188285076587 ], [ -0.9427686877790392, -0.3334474491481206 ], [ 0.9701425000276848, 0.2425356250069212 ], [ -0.3429570741499829, 0.939351076696292 ] ] }, { "task_id": "0001128", "id": "RH20T_cfg7_task_0042_user_0020_scene_0009_cfg_0007_104122064161#117", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001128/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9684054327774774, 0.24938106938391894 ], [ -0.1961161350997225, 0.9805806754986125 ], [ 0.0784601942994686, -0.9969172472730571 ], [ -0.9964300966112815, -0.08442193179045523 ] ] }, { "task_id": "0001129", "id": "RH20T_cfg4_task_0023_user_0014_scene_0005_cfg_0004_038522062288#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the power strip button', and now you are performing subtask 'press the button on the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001129/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997727944379329, 0.02131571021023808 ], [ 0.05547001961944599, 0.9984603531500278 ], [ -0.03900492113463414, -0.999239018517232 ], [ -0.9852321556729337, 0.17122382844704856 ] ] }, { "task_id": "0001130", "id": "RH20T_cfg4_task_0126_user_0014_scene_0002_cfg_0004_038522062288#165", "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 cord from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001130/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7497972683273958, 0.6616676328858585 ], [ 0.7436941091917362, 0.6685200609955619 ], [ -0.7071067810198809, -0.7071067810198809 ], [ 0.6221611159103524, -0.7828892296162882 ] ] }, { "task_id": "0001131", "id": "RH20T_cfg5_task_0118_user_0007_scene_0008_cfg_0005_104122063678#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'press the handle of the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001131/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9104680522264477, 0.4135794069764336 ], [ -0.5144957553392911, 0.8574929255654853 ], [ 0.3852566980757729, -0.9228094476042997 ], [ -0.8519152866490832, -0.5236796199716105 ] ] }, { "task_id": "0001132", "id": "RH20T_cfg5_task_0103_user_0007_scene_0010_cfg_0005_104122063678#214", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001132/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7568178067747967, -0.6536258925016563 ], [ -0.694538525999718, -0.7194555134976305 ], [ -0.7281271572370879, 0.6854420784383151 ] ] }, { "task_id": "0001133", "id": "RH20T_cfg5_task_0046_user_0010_scene_0007_cfg_0005_104122063678#355", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001133/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.29301403340695265, -0.9561081404457288 ], [ 0.9284766907128456, -0.3713906762851382 ], [ -0.9647926961726957, 0.26301150813570934 ], [ 0.3736930164152836, 0.9275524402870421 ] ] }, { "task_id": "0001134", "id": "RH20T_cfg7_task_0039_user_0014_scene_0009_cfg_0007_104122064161#92", "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 with water 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001134/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7292773630640554, 0.6842181872197916 ], [ -0.7071067810615475, 0.7071067810615475 ], [ 0.6510692755857372, -0.7590183122878285 ], [ -0.7825648593631117, -0.6225690651566244 ] ] }, { "task_id": "0001136", "id": "RH20T_cfg4_task_0103_user_0014_scene_0016_cfg_0004_104122062823#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the plate on the table', and now you are performing subtask 'slide the plate 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001136/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4833772892340326, -0.8754121293726507 ], [ -0.9479313939874902, -0.31847460227298136 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.48145442484401796, 0.876471127190232 ] ] }, { "task_id": "0001137", "id": "RH20T_cfg5_task_0068_user_0007_scene_0009_cfg_0005_104122063678#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press a button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001137/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7433136076092167, 0.6689431072542503 ], [ 0.7315501286822679, -0.6817876569907653 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6213564113934028, -0.7835280531163594 ] ] }, { "task_id": "0001138", "id": "RH20T_cfg7_task_0045_user_0014_scene_0006_cfg_0007_104122064161#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001138/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3171117010723288, 0.9483881953309068 ], [ -0.9138115485274737, 0.40613846601221054 ], [ 0.9270286727369614, -0.3749904531098728 ], [ -0.43632751316237217, -0.8997879201553775 ] ] }, { "task_id": "0001139", "id": "RH20T_cfg4_task_0101_user_0015_scene_0009_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with an orange cloth', and now you are performing subtask 'pull the orange cloth to the middle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001139/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7466736311786601, -0.6651905655543187 ], [ -0.4510429538171107, -0.8925022430290782 ], [ -0.8246833964034247, 0.5655946390273797 ], [ 0.5547001961739471, 0.8320502942609206 ] ] }, { "task_id": "0001140", "id": "RH20T_cfg4_task_0110_user_0007_scene_0006_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the pencil out from the pencil sharpener', and now you are performing subtask 'pick up the pencil from the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001140/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983077858638646, 0.058151222545947956 ], [ 0.0, 0.9999999998571428 ], [ 0.13246611821690604, -0.9911875339836276 ], [ -0.9999840359185445, 0.005650478569026987 ] ] }, { "task_id": "0001141", "id": "RH20T_cfg4_task_0013_user_0016_scene_0004_cfg_0004_104122062823#122", "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 wooden 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001141/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9776482430436088, -0.21024726603155877 ], [ 0.09950371901604842, 0.9950371901604842 ], [ -0.04732420952170026, -0.9988795819282454 ], [ -0.9858999833895898, 0.16733565893857322 ] ] }, { "task_id": "0001142", "id": "RH20T_cfg4_task_0093_user_0014_scene_0007_cfg_0004_038522062288#215", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001142/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.41047371857049714, 0.9118724287765851 ], [ -0.8682431420167669, -0.4961389382952954 ], [ 0.8756910720008443, 0.4828717701605802 ], [ 0.5067720357439935, -0.8620801028836523 ] ] }, { "task_id": "0001143", "id": "RH20T_cfg5_task_0123_user_0010_scene_0009_cfg_0005_104122063678#327", "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 tool from the workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001143/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949491664584472, -0.10038005859552523 ], [ 0.05003316761377993, -0.9987475567622338 ], [ -0.9932882407583552, 0.1156653395411604 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001144", "id": "RH20T_cfg2_task_0059_user_0007_scene_0005_cfg_0002_037522062165#403", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob clockwise', and now you are performing subtask 'twist the knob 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001144/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9924364818851237, 0.12275923355690424 ], [ 0.002092721028113883, 0.9999978102569518 ], [ 0.0, -0.9999999989999999 ], [ 0.9933503646727153, 0.11513059108935146 ] ] }, { "task_id": "0001145", "id": "RH20T_cfg4_task_0107_user_0007_scene_0019_cfg_0004_104122062823#132", "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 surface near the trash can'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001145/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9680747929264799, -0.250661515395469 ], [ -0.15065406580181315, -0.9885865427252097 ], [ 0.22162110357914494, 0.9751328557482377 ], [ -0.9379089218712057, 0.3468816142063351 ] ] }, { "task_id": "0001146", "id": "RH20T_cfg2_task_0083_user_0007_scene_0008_cfg_0002_037522062165#519", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001146/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8504086385998924, -0.526122749360525 ], [ -0.5322948603819383, -0.8465590242924429 ], [ -0.9359495981369267, 0.352133994024044 ] ] }, { "task_id": "0001147", "id": "RH20T_cfg4_task_0121_user_0007_scene_0008_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'taking out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise, take it out from the socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001147/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.99173590144386, -0.12829614876267453 ], [ 0.12403473457382384, 0.9922778765905907 ], [ -0.18892605881491842, -0.9819913157969689 ], [ -0.9768430233796553, 0.2139572566530386 ] ] }, { "task_id": "0001149", "id": "RH20T_cfg2_task_0032_user_0003_scene_0002_cfg_0002_037522062165#199", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001149/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31224390950328806, -0.9500019689338031 ], [ -0.9065820349117386, 0.42202963637082536 ], [ 0.8944271908665825, -0.44721359543329126 ], [ 0.41337379613716696, 0.9105614227865949 ] ] }, { "task_id": "0001150", "id": "RH20T_cfg7_task_0046_user_0014_scene_0009_cfg_0007_104122064161#95", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001150/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04886659674932247, 0.9988053142240179 ], [ 0.9908472631873673, 0.13498778105482098 ], [ -0.12124461622792579, -0.9926226589372937 ], [ -0.9999999996666666, 0.0 ] ] }, { "task_id": "0001151", "id": "RH20T_cfg6_task_0019_user_0014_scene_0004_cfg_0006_104122064161#28", "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 stone 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001151/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.32711056387127724, -0.9449860734059121 ], [ -0.9464508130164492, 0.3228480424913589 ], [ 0.4121694807384249, 0.9111071941038646 ], [ 0.9354187816008298, -0.35354165670882287 ] ] }, { "task_id": "0001152", "id": "RH20T_cfg2_task_0085_user_0007_scene_0005_cfg_0002_037522062165#507", "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 from the assembled bubble ring and 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001152/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9596143169421989, -0.28131896971153036 ], [ -0.31562077029510144, -0.9488854142404797 ], [ -0.9611535302704085, 0.2760142953702416 ] ] }, { "task_id": "0001153", "id": "RH20T_cfg6_task_0206_user_0014_scene_0008_cfg_0006_104122064161#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the green garlic', and now you are performing subtask 'pick up the kitchen knife from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001153/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9836975629352226, 0.17983076676504461 ], [ 0.3200252201248565, -0.9474090238561363 ], [ -0.2060104810392318, 0.9785497849363511 ], [ -0.9908124479908252, -0.13524308820205339 ] ] }, { "task_id": "0001154", "id": "RH20T_cfg3_task_0004_user_0016_scene_0003_cfg_0003_104122062823#229", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001154/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997581945038121, -0.021989827704597373 ], [ 0.0, 0.9999999996666666 ], [ -0.0033601834939778995, -0.999994354567508 ], [ -0.9997828961106986, 0.020836521890756375 ] ] }, { "task_id": "0001155", "id": "RH20T_cfg4_task_0104_user_0015_scene_0010_cfg_0004_104122062823#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the plate downwards', and now you are performing subtask 'pull the plate downward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001155/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993394044425323, 0.03634218937330241 ], [ -0.04079464566795645, -0.9991675519575413 ], [ 0.0, 0.9999999998571428 ], [ -0.9965388020789914, 0.083128911643115 ] ] }, { "task_id": "0001156", "id": "RH20T_cfg7_task_0025_user_0020_scene_0009_cfg_0007_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that is folded once (one end is pressed down by a weight)', and now you are performing subtask 'fold the paper 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001156/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9929194616614994, 0.11878948881882745 ], [ 0.0, 0.9999999995 ], [ 0.10216546951591733, -0.9947674184645335 ], [ -0.9886479514396291, 0.1502505511278572 ] ] }, { "task_id": "0001158", "id": "RH20T_cfg6_task_0033_user_0014_scene_0009_cfg_0006_104122064161#82", "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 on the left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001158/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11283457104635441, 0.9936137879361303 ], [ 0.9919217801734759, 0.12685102292643363 ], [ 0.12948856333039793, -0.9915809154913328 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0001159", "id": "RH20T_cfg5_task_0023_user_0010_scene_0006_cfg_0005_104122063678#377", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001159/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09426902692029732, -0.9955467596067501 ], [ 0.9999999995, 0.0 ], [ -0.995987331357597, 0.08949433376014598 ], [ -0.02973051711825647, 0.999557950472048 ] ] }, { "task_id": "0001160", "id": "RH20T_cfg6_task_0086_user_0007_scene_0006_cfg_0006_104122064161#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the dial pen 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001160/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6886497501539675, 0.7250941467236363 ], [ 0.6200012860537294, -0.7846007935834132 ], [ -0.6944628281380602, -0.7195285820135897 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001161", "id": "RH20T_cfg6_task_0005_user_0014_scene_0008_cfg_0006_104122064161#50", "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 edge of the small piece'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001161/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9984281868549869, -0.056046014072931714 ], [ 0.07502865559682566, -0.997181378104973 ], [ -0.9993644121065737, -0.035647886541594995 ], [ -0.07819124531710302, 0.9969383777930635 ] ] }, { "task_id": "0001162", "id": "RH20T_cfg5_task_0088_user_0007_scene_0004_cfg_0005_104122063678#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cube on the green fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001162/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6886769084094685, 0.7250683525182826 ], [ 0.7604480498092759, -0.6493987708190316 ], [ -0.6633255194430404, -0.7483309797513534 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001163", "id": "RH20T_cfg3_task_0071_user_0010_scene_0004_cfg_0003_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the sliding window', and now you are performing subtask 'push the sliding window to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001163/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9889712504228532, 0.1481076157294359 ], [ 0.3239060482422488, -0.9460892515572144 ], [ -0.26311740576903186, 0.9647638211531168 ], [ -0.9655179975130006, -0.2603363141755018 ] ] }, { "task_id": "0001164", "id": "RH20T_cfg2_task_0002_user_0007_scene_0002_cfg_0002_037522062165#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull the napkin out of the box 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001164/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14317544445977415, -0.9896973234801366 ], [ -0.9900914764376963, 0.14042388787319182 ], [ 0.9999999996666666, 0.0 ], [ -0.0923831932254813, 0.9957235287013476 ] ] }, { "task_id": "0001165", "id": "RH20T_cfg5_task_0074_user_0007_scene_0009_cfg_0005_104122063678#211", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the green button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001165/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6343535787336151, 0.7730430370605864 ], [ 0.607190664977736, -0.7945561631275003 ], [ -0.6058591515355971, -0.7955719254099949 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0001166", "id": "RH20T_cfg5_task_0119_user_0010_scene_0005_cfg_0005_104122063678#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'rotate the handle of the water tap clockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001166/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1329535363177103, -0.9911222715591731 ], [ -0.9946028086938122, 0.10375573689382207 ], [ 0.09082634244465311, 0.9958667458641878 ], [ 0.9863939236699816, -0.16439898727833027 ] ] }, { "task_id": "0001167", "id": "RH20T_cfg5_task_0010_user_0007_scene_0006_cfg_0005_104122063678#253", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001167/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.038289448597556806, 0.9992666901914099 ], [ 0.9998403336053064, 0.01786917166601749 ], [ -0.9999999989999999, 0.0 ], [ -0.0231098421688378, -0.99973293193479 ] ] }, { "task_id": "0001168", "id": "RH20T_cfg7_task_0052_user_0014_scene_0003_cfg_0007_104122064161#70", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001168/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6406783874321104, -0.7678093538616151 ], [ 0.7071067811448809, 0.7071067811448809 ], [ -0.6687466385039912, -0.7434903721566354 ], [ -0.6509472221475897, 0.7591229900209429 ] ] }, { "task_id": "0001169", "id": "RH20T_cfg5_task_0119_user_0010_scene_0003_cfg_0005_104122063678#254", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the faucet handle clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001169/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0006082412357373921, -0.9999998150212824 ], [ -0.9963898303758971, -0.08489585339397217 ], [ 0.9999999989999999, 0.0 ], [ 0.04042500847688983, 0.9991825752532134 ] ] }, { "task_id": "0001170", "id": "RH20T_cfg2_task_0054_user_0007_scene_0010_cfg_0002_105422061350#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'grab the moving object in the environment'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001170/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.954922072321722, -0.2968565912907913 ], [ 0.35112344154729586, 0.9363291774594555 ], [ -0.4382411666503755, -0.8988574302151136 ], [ -0.9516453479594749, 0.3071988471773455 ] ] }, { "task_id": "0001171", "id": "RH20T_cfg3_task_0001_user_0016_scene_0010_cfg_0003_104122062823#152", "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 top of the block from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001171/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8079856439813543, 0.5892021716864562 ], [ 0.7589421230915261, -0.6511580866405077 ], [ -0.7071067811032142, 0.7071067811032142 ], [ -0.7062387238984521, -0.7079737741373519 ] ] }, { "task_id": "0001172", "id": "RH20T_cfg4_task_0217_user_0007_scene_0002_cfg_0004_104122062823#119", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001172/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8653600752924101, -0.5011506161723382 ], [ -0.441461145828167, -0.8972803668442111 ], [ -0.9576695629454197, 0.28786977647528206 ], [ 0.37139067631962097, 0.9284766907990525 ] ] }, { "task_id": "0001173", "id": "RH20T_cfg5_task_0081_user_0007_scene_0001_cfg_0005_104122063678#294", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001173/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.912649213095962, 0.40874370189070947 ], [ 0.3780018613366351, -0.92580483517102 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9726997221795173, -0.2320673403818168 ] ] }, { "task_id": "0001174", "id": "RH20T_cfg3_task_0091_user_0010_scene_0008_cfg_0003_104122062823#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 yellow block from the black 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001174/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9900638961935555, 0.14061821167272906 ], [ 0.17914214284335475, -0.9838232019308607 ], [ -0.924834581117448, -0.3803695539463099 ], [ -0.26879896780792434, 0.963196301311729 ] ] }, { "task_id": "0001175", "id": "RH20T_cfg3_task_0091_user_0010_scene_0008_cfg_0003_104122062823#375", "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 yellow block in the pink 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001175/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.30320365726381376, -0.9529257799719861 ], [ -0.9797392577230235, 0.2002772749873006 ], [ 0.23242457632875063, 0.9726144232522983 ], [ 0.8952081182798003, -0.44564831982847114 ] ] }, { "task_id": "0001176", "id": "RH20T_cfg5_task_0103_user_0007_scene_0001_cfg_0005_104122063678#200", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the plate into the goal', and now you are performing subtask 'slide the plate into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001176/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9555798086733136, 0.2947324706507134 ], [ 0.13912363926048643, -0.9902750188704742 ], [ -0.973947391479018, -0.2267740695741393 ] ] }, { "task_id": "0001177", "id": "RH20T_cfg6_task_0014_user_0014_scene_0001_cfg_0006_104122064161#57", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001177/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.948316671297888, -0.31732552834351907 ], [ -0.547386093438533, -0.8368801973461325 ], [ -0.9370157719870383, 0.34928704964188784 ], [ 0.42443387621871004, 0.905458935933248 ] ] }, { "task_id": "0001178", "id": "RH20T_cfg6_task_0050_user_0014_scene_0003_cfg_0006_104122064161#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001178/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9510183382633342, 0.3091344695870174 ], [ -0.19611613511895326, 0.9805806755947664 ], [ 0.26821804852629727, -0.9633582295515749 ], [ -0.9987432224832437, -0.05011961236667846 ] ] }, { "task_id": "0001179", "id": "RH20T_cfg6_task_0085_user_0007_scene_0009_cfg_0006_104122064161#175", "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 from the assembled bubble ring and 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001179/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999175948587132, 0.012837581235046856 ], [ 0.01683515737034686, -0.9998582786956938 ], [ 0.0, 0.9999999996666666 ], [ -0.9915418699745846, -0.1297872108002319 ] ] }, { "task_id": "0001180", "id": "RH20T_cfg1_task_0022_user_0001_scene_0010_cfg_0001_039422060546#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag on the right side of the image'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001180/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981280446140329, 0.061158863257642256 ], [ 0.15551904741269504, -0.9878328937081655 ], [ 0.0, 0.9999999995 ], [ -0.9938814338253247, -0.11045223174439113 ] ] }, { "task_id": "0001181", "id": "RH20T_cfg3_task_0049_user_0010_scene_0009_cfg_0003_104122062823#226", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel counterclockwise', and now you are performing subtask 'rotate the steering wheel counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001181/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.053639211191064955, -0.9985603812603424 ], [ -0.9985527335600776, 0.053781393619882906 ], [ 0.9965457582035003, 0.08304547985029169 ], [ 0.06883482127084024, 0.9976280706659229 ] ] }, { "task_id": "0001182", "id": "RH20T_cfg7_task_0007_user_0014_scene_0002_cfg_0007_104122064161#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide a small block on the table from the front side to the back side', and now you are performing subtask 'push a small square from the front side to the back side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001182/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7808688093210792, 0.6246950474568633 ], [ 0.6669163783171251, 0.7451325682939709 ], [ 0.7244863200440136, -0.6892891788422935 ], [ -0.5365735966445, -0.8438535272095422 ] ] }, { "task_id": "0001183", "id": "RH20T_cfg2_task_0073_user_0007_scene_0008_cfg_0002_105422061350#319", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the wooden block from the table and place it near the white cabinet', and now you are performing subtask 'pick up the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001183/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, -0.7071067806865474 ], [ -0.611731862622214, 0.7910651858429599 ], [ 0.7193691234714129, 0.6946280041835136 ], [ 0.6663191943442058, -0.7456666354668743 ] ] }, { "task_id": "0001184", "id": "RH20T_cfg1_task_0020_user_0001_scene_0006_cfg_0001_039422060546#165", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001184/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9911105004183959, -0.13304125661010882 ], [ 0.0, 0.9999999989999999 ], [ -0.03812802520054016, -0.999272862482669 ], [ -0.9964721121999488, -0.08392454711091803 ] ] }, { "task_id": "0001186", "id": "RH20T_cfg4_task_0014_user_0010_scene_0010_cfg_0004_104122062823#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the object from the scale, put it on the table', and now you are performing subtask 'pick up the block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001186/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2425356250069212, 0.9701425000276848 ], [ 0.992038341206338, 0.12593621233218574 ], [ 0.1756991880813035, -0.9844439015543601 ], [ -0.9814842114953034, -0.19154305674036465 ] ] }, { "task_id": "0001187", "id": "RH20T_cfg6_task_0048_user_0014_scene_0009_cfg_0006_104122064161#214", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001187/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5539250376367686, -0.8325665454959769 ], [ -0.893768414345707, -0.44852872986906944 ], [ -0.5238705118801221, 0.8517979142862812 ], [ 0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0001188", "id": "RH20T_cfg4_task_0016_user_0016_scene_0007_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001188/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07625506945735296, -0.9970883433187123 ], [ -0.9996198499618575, 0.027570918777466164 ], [ 0.9999999995, 0.0 ], [ 0.04346004730598745, 0.9990551657882368 ] ] }, { "task_id": "0001189", "id": "RH20T_cfg1_task_0002_user_0004_scene_0003_cfg_0001_039422060546#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a tissue and place it on the table', and now you are performing subtask 'pick up the tissue from the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001189/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7564175353121182, -0.6540890705953896 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.5443141167928155, -0.8388814828448994 ], [ -0.8720759737607543, 0.48937050993008585 ] ] }, { "task_id": "0001190", "id": "RH20T_cfg4_task_0081_user_0007_scene_0009_cfg_0004_104122062823#117", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001190/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7711810404771939, 0.6366158989598929 ], [ -0.7071067810198809, -0.7071067810198809 ], [ 0.5974116061555841, 0.8019347684385592 ], [ 0.5954095093651501, -0.8034223771824825 ] ] }, { "task_id": "0001191", "id": "RH20T_cfg6_task_0052_user_0014_scene_0004_cfg_0006_104122063633#83", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001191/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.013366528092884238, -0.9999106639729082 ], [ -0.9990954087469304, -0.04252486591165226 ], [ 0.9999999989999999, 0.0 ], [ -0.13083763627319395, 0.9914038092192522 ] ] }, { "task_id": "0001192", "id": "RH20T_cfg4_task_0008_user_0010_scene_0010_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block at the cardboard circle', and now you are performing subtask 'pick up the block on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001192/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.991413102436112, 0.13076719893766725 ], [ 0.09801457926285992, -0.995184978911923 ], [ 0.0, 0.9999999999166667 ], [ -0.9924853973335067, 0.12236313202820266 ] ] }, { "task_id": "0001193", "id": "RH20T_cfg4_task_0104_user_0007_scene_0006_cfg_0004_104122062823#70", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the white bowl to the table outside the goal', and now you are performing subtask 'pull the white bowl to the table outside the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001193/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.34358153125566226, 0.9391228520988102 ], [ 0.8746542105651789, 0.4847473691941027 ], [ 0.32207136877107945, -0.9467153919832102 ], [ -0.9530667695501378, -0.3027601902153991 ] ] }, { "task_id": "0001194", "id": "RH20T_cfg2_task_0035_user_0007_scene_0006_cfg_0002_037522062165#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'transfer the small block from the surface to the robot gripper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001194/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9897708711909073, -0.14266612261497916 ], [ 0.0, -0.9999999989999999 ], [ -0.10825044068614322, 0.9941236553323012 ], [ 0.9950896690085095, -0.09897752589621146 ] ] }, { "task_id": "0001195", "id": "RH20T_cfg6_task_0001_user_0020_scene_0004_cfg_0006_104122064161#178", "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 top 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001195/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8028080899135559, -0.5962375120447789 ], [ -0.7597343845763996, 0.6502335464218371 ], [ 0.73957571926447, 0.6730733655957885 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0001196", "id": "RH20T_cfg4_task_0094_user_0015_scene_0006_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the pink lid from the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001196/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5671089799792247, -0.8236427652975066 ], [ -0.747610472604478, -0.6641374716518479 ], [ -0.536265602953783, 0.8440492894900247 ], [ 0.7840458244361478, 0.6207029443452836 ] ] }, { "task_id": "0001197", "id": "RH20T_cfg4_task_0043_user_0014_scene_0004_cfg_0004_036422060909#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the lid', and now you are performing subtask 'rotate the lid counterclockwise to unscrew 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001197/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9863939236699816, -0.16439898727833027 ], [ -0.2738508157681942, 0.9617721823296277 ], [ 0.9997039854414365, 0.024329847769937994 ], [ 0.16432337695149726, -0.9864065225794364 ] ] }, { "task_id": "0001198", "id": "RH20T_cfg3_task_0060_user_0010_scene_0001_cfg_0003_104122062823#138", "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 'pick up the knob on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001198/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7132868824606996, -0.7008721875702418 ], [ -0.6984466694611843, -0.7156621059680184 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.7514844271424158, 0.6597508285424393 ] ] }, { "task_id": "0001199", "id": "RH20T_cfg3_task_0043_user_0010_scene_0003_cfg_0003_104122062823#157", "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, unscrew the lid from the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001199/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7033532266755315, -0.7108405155343346 ], [ -0.7442212819459016, -0.6679331429857324 ], [ 0.7926239890562728, 0.6097107608125176 ], [ -0.7175895894799679, 0.696466209567967 ] ] }, { "task_id": "0001200", "id": "RH20T_cfg6_task_0064_user_0007_scene_0006_cfg_0006_104122063633#150", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001200/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9442712327573537, -0.32916840520758905 ], [ -0.3414566667574446, -0.9398975182044559 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.9553650645005892, 0.29542781441798105 ] ] }, { "task_id": "0001201", "id": "RH20T_cfg6_task_0104_user_0014_scene_0003_cfg_0006_104122064161#193", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the plate on the table', and now you are performing subtask 'slide the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001201/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9741049047059546, -0.226096516177944 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.1903581533075872, -0.9817147108347339 ], [ -0.9999144109935826, -0.013083221597023981 ] ] }, { "task_id": "0001202", "id": "RH20T_cfg5_task_0050_user_0007_scene_0004_cfg_0005_104122063678#362", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the bowl rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001202/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7599919419584946, -0.6499324950778782 ], [ -0.6990814017951944, -0.7150420922323847 ], [ -0.7259762339343729, 0.6877197886948322 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001203", "id": "RH20T_cfg5_task_0047_user_0007_scene_0007_cfg_0005_104122063678#244", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack and put it on the table', and now you are performing subtask 'take the cup off 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001203/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.994362048177351, 0.10603828150504667 ], [ 0.12152714018026534, -0.9925881090359718 ], [ -0.9924097412923089, 0.12297522265941538 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001204", "id": "RH20T_cfg7_task_0046_user_0014_scene_0007_cfg_0007_104122064161#71", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001204/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5583016788278007, -0.829638014689575 ], [ -0.8102703265052181, -0.5860563095685664 ], [ 0.7498378553320185, 0.6616216370576634 ], [ -0.5529931453929741, 0.8331858022964536 ] ] }, { "task_id": "0001205", "id": "RH20T_cfg5_task_0001_user_0010_scene_0007_cfg_0005_104122063678#468", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base on the table', and now you are performing subtask 'press the red button on the white base 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001205/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.044036203437224565, -0.9990299358812205 ], [ 0.9999999995, 0.0 ], [ -0.9956995005706373, -0.09264180785899728 ], [ -0.11930247775838615, 0.9928579549969421 ] ] }, { "task_id": "0001206", "id": "RH20T_cfg4_task_0222_user_0014_scene_0009_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid from the side of the pot'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001206/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999991499949336, 0.0013038440897964571 ], [ 0.14971930197540045, -0.9887285424301246 ], [ -0.12403473457382384, 0.9922778765905907 ], [ -0.9753478807309709, -0.2206728609358292 ] ] }, { "task_id": "0001207", "id": "RH20T_cfg7_task_0033_user_0014_scene_0007_cfg_0007_104122064161#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping a block and placing it onto the marked area on the board', and now you are performing subtask 'pick up a block from the right side of the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001207/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9885527108361457, -0.15087590231215783 ], [ -0.2399149416240719, -0.9707939126228173 ], [ -0.954579636523617, 0.29795589864011623 ], [ 0.2747211278596422, 0.9615239475087477 ] ] }, { "task_id": "0001208", "id": "RH20T_cfg4_task_0050_user_0014_scene_0009_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001208/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1476499914812088, -0.9890396756529027 ], [ -0.9905600437048545, 0.1370795382813818 ], [ 0.07373195567461394, 0.9972780949727096 ], [ 0.99999999975, 0.0 ] ] }, { "task_id": "0001209", "id": "RH20T_cfg2_task_0014_user_0003_scene_0009_cfg_0002_037522062165#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the small square from the scale onto the table', and now you are performing subtask 'pick up the small square from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001209/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9906991295615677, 0.13607069738173758 ], [ -0.24253562497750944, 0.9701424999100378 ], [ 0.09677611802358792, -0.9953061754959047 ], [ -0.9957556604615796, -0.09203621384391802 ] ] }, { "task_id": "0001210", "id": "RH20T_cfg3_task_0024_user_0010_scene_0003_cfg_0003_104122062823#441", "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 plug'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001210/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5266257799198779, -0.850097222630318 ], [ 0.8682431420167669, 0.4961389382952954 ], [ -0.8230106418263388, -0.5680259531399934 ], [ -0.6246935689164327, 0.7808699923511276 ] ] }, { "task_id": "0001211", "id": "RH20T_cfg4_task_0081_user_0015_scene_0003_cfg_0004_104122062823#95", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001211/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9819212443226255, 0.18928990978894472 ], [ -0.28734788553882246, 0.9578262851294083 ], [ 0.2534739315482409, -0.9673422176383484 ], [ -0.9455497399639811, -0.32547763249422806 ] ] }, { "task_id": "0001212", "id": "RH20T_cfg2_task_0062_user_0007_scene_0005_cfg_0002_105422061350#307", "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 from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001212/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13633374263784204, -0.9906629651997488 ], [ -0.999547419153238, -0.03008250096154424 ], [ 0.9999999995, 0.0 ], [ 0.138853090033267, 0.9903129906187303 ] ] }, { "task_id": "0001213", "id": "RH20T_cfg3_task_0049_user_0010_scene_0005_cfg_0003_104122062823#312", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 90 degrees counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001213/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14834045292657716, -0.9889363528438477 ], [ -0.9983118455788457, -0.05808148566418689 ], [ -0.29149326354796395, 0.9565728813353206 ], [ 0.9909111118865173, 0.13451828254860462 ] ] }, { "task_id": "0001214", "id": "RH20T_cfg6_task_0105_user_0014_scene_0002_cfg_0006_104122064161#54", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001214/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5253684108994904, -0.8508748632019543 ], [ -0.7864817788077496, -0.6176134807494069 ], [ 0.7682212794990152, 0.6401843995825127 ], [ -0.5427025094263479, 0.8399249884735809 ] ] }, { "task_id": "0001215", "id": "RH20T_cfg5_task_0023_user_0010_scene_0010_cfg_0005_104122063678#315", "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 switch on the power extension cord'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001215/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7857267018581695, 0.6185738031852654 ], [ -0.59999999988, 0.79999999984 ], [ 0.7057100501852221, -0.7085007586923047 ], [ -0.8079162792315823, -0.5892972813042633 ] ] }, { "task_id": "0001216", "id": "RH20T_cfg4_task_0072_user_0007_scene_0020_cfg_0004_104122062823#213", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'putting coins into a piggy bank', and now you are performing subtask 'pick up the coin on the lid'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001216/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9996256982936964, 0.027358057512183783 ], [ 0.004980216976924652, 0.9999875986425346 ], [ 0.0, -0.9999999996666666 ], [ 0.9974903188214516, -0.0708029932805034 ] ] }, { "task_id": "0001217", "id": "RH20T_cfg6_task_0029_user_0014_scene_0004_cfg_0006_104122063633#307", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001217/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955174933082648, 0.09457758993138488 ], [ 0.0, 0.9999999995 ], [ 0.021679391783493613, -0.999764974367425 ], [ -0.9998482728724329, -0.017419277654742042 ] ] }, { "task_id": "0001218", "id": "RH20T_cfg3_task_0021_user_0011_scene_0001_cfg_0003_104122062823#152", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001218/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8438943219035973, 0.5365094346410583 ], [ 0.3673041862147348, -0.9301008734482145 ], [ -0.9302217102230912, -0.36699805153382964 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0001219", "id": "RH20T_cfg6_task_0038_user_0014_scene_0004_cfg_0006_104122064161#107", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001219/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.16439898727833027, 0.9863939236699816 ], [ 0.9999372899145154, 0.011198939164691108 ], [ 0.12106724011514743, -0.9926443085873717 ], [ -0.9854804790408899, -0.16978876708822185 ] ] }, { "task_id": "0001220", "id": "RH20T_cfg6_task_0038_user_0020_scene_0002_cfg_0006_104122064161#135", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001220/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9979451657470491, 0.0640737556421887 ], [ 0.0, 0.99999999975 ], [ -0.1410267875671226, -0.990005780381356 ], [ -0.9993538134650612, 0.035943782672943084 ] ] }, { "task_id": "0001221", "id": "RH20T_cfg2_task_0002_user_0002_scene_0008_cfg_0002_104122061850#132", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001221/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.60727452765115, 0.7944920692279267 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.8010879936191551, -0.5985465950778073 ], [ -0.6977293072683433, -0.7163615105369899 ] ] }, { "task_id": "0001222", "id": "RH20T_cfg2_task_0091_user_0007_scene_0009_cfg_0002_037522062165#295", "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 small object from the blue 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001222/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999785497204411, 0.020711339399682744 ], [ -0.12910580200477473, -0.9916308243941915 ], [ 0.0, 0.9999999989999999 ], [ -0.9903342775448328, 0.13870118499765632 ] ] }, { "task_id": "0001223", "id": "RH20T_cfg4_task_0064_user_0007_scene_0003_cfg_0004_104122062823#154", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001223/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5547001961995881, 0.832050294299382 ], [ 0.73942083200706, -0.6732435170085095 ], [ -0.5982716429402256, -0.8012933553035387 ], [ -0.7565723952442156, 0.6539099408591602 ] ] }, { "task_id": "0001224", "id": "RH20T_cfg6_task_0067_user_0014_scene_0005_cfg_0006_104122064161#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button', and now you are performing subtask 'press a 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001224/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.9762846498865337, 0.216490836748183 ], [ 0.20494957732180966, -0.9787725326936855 ], [ -0.9282555322030168, -0.3719430963662239 ] ] }, { "task_id": "0001225", "id": "RH20T_cfg3_task_0005_user_0016_scene_0004_cfg_0003_104122062823#143", "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 small square's side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001225/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.431764414136665, -0.9019864138030144 ], [ -0.9285112319176722, -0.3713043121251447 ], [ 0.9344877348873839, 0.35599532757614627 ], [ -0.37079409797660345, 0.9287150999664628 ] ] }, { "task_id": "0001226", "id": "RH20T_cfg7_task_0055_user_0020_scene_0006_cfg_0007_104122064161#125", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001226/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9957745438604796, 0.0918316818938535 ], [ 0.028428148424570643, -0.9995958385153225 ], [ -0.9964420847526354, -0.08428031640793614 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001227", "id": "RH20T_cfg5_task_0068_user_0007_scene_0007_cfg_0005_104122063678#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press a button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001227/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.23331916393565716, 0.9724002096566856 ], [ 0.9973627572001904, -0.07257775520112318 ], [ -0.16058829114118225, -0.9870214793753757 ], [ -0.9863939236699816, 0.16439898727833027 ] ] }, { "task_id": "0001228", "id": "RH20T_cfg1_task_0022_user_0014_scene_0001_cfg_0001_035622060973#105", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001228/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8406722813320194, -0.5415441952417347 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.4936885516392191, -0.8696387836224706 ], [ -0.936426484895817, 0.35086384593694486 ] ] }, { "task_id": "0001232", "id": "RH20T_cfg5_task_0103_user_0007_scene_0005_cfg_0005_104122063678#211", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001232/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.8037742391794147, 0.5949344270014579 ], [ 0.7507411810004474, -0.6605964571128531 ], [ -0.7837848684814116, -0.6210324306665282 ] ] }, { "task_id": "0001233", "id": "RH20T_cfg4_task_0002_user_0010_scene_0002_cfg_0004_104122062823#87", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001233/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8020342677935237, -0.5972780200919052 ], [ -0.5554149523257668, -0.8315733465744114 ], [ -0.7773594766600711, 0.629056630238312 ], [ 0.5038710254878168, 0.8637789008362573 ] ] }, { "task_id": "0001234", "id": "RH20T_cfg4_task_0010_user_0010_scene_0002_cfg_0004_104122062823#117", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001234/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.99999999975 ], [ -0.9999924527029241, 0.0038851688753662765 ], [ -0.07908706439773545, 0.9968677125100143 ], [ 0.9985041685371011, -0.05467563821330877 ] ] }, { "task_id": "0001235", "id": "RH20T_cfg4_task_0034_user_0016_scene_0004_cfg_0004_104122062823#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack the squares into a pyramid shape', and now you are performing subtask 'push the wooden block from the left side to the side of the right wooden 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001235/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999453736614383, 0.01045225779851297 ], [ 0.22073431260875176, -0.9753339752295835 ], [ -0.09950371901109793, 0.9950371901109792 ], [ -0.9711232043853671, -0.23857854451793528 ] ] }, { "task_id": "0001236", "id": "RH20T_cfg4_task_0071_user_0015_scene_0006_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the sliding window', and now you are performing subtask 'pull the handle of the sliding window towards the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001236/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9702862005348917, -0.2419600980566094 ], [ -0.05036873598427754, -0.9987306896432823 ], [ -0.9982601259316576, 0.05896372592459965 ], [ 0.1414213562173095, 0.9899494935211665 ] ] }, { "task_id": "0001237", "id": "RH20T_cfg4_task_0329_user_0014_scene_0010_cfg_0004_038522062288#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001237/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14194744467981066, 0.9898741955162141 ], [ 0.9953900944880943, -0.0959091225847818 ], [ -0.9999999989999999, 0.0 ], [ -0.03871295560389558, -0.9992503725635588 ] ] }, { "task_id": "0001238", "id": "RH20T_cfg5_task_0014_user_0007_scene_0008_cfg_0005_104122063678#194", "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 cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001238/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8346935541499655, 0.5507146907977839 ], [ 0.5014701030908623, -0.8651749740405348 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9442539895119783, -0.32921786599562447 ] ] }, { "task_id": "0001239", "id": "RH20T_cfg4_task_0107_user_0007_scene_0020_cfg_0004_104122062823#92", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001239/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9799000173115398, -0.19948923798752655 ], [ -0.3950105901501872, -0.9186765664090931 ], [ 0.2631174057874934, 0.9647638212208092 ], [ -0.9519497755479599, 0.3062541833741846 ] ] }, { "task_id": "0001240", "id": "RH20T_cfg4_task_0095_user_0014_scene_0008_cfg_0004_038522062288#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'pick up the photo frame on the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001240/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8574929255654853, 0.5144957553392911 ], [ 0.6214594716475534, -0.7834463128380552 ], [ -0.8957782603914748, -0.44450119033589 ], [ -0.5550621123042113, 0.8318089032250058 ] ] }, { "task_id": "0001241", "id": "RH20T_cfg6_task_0023_user_0014_scene_0001_cfg_0006_104122064161#53", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001241/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999998355949293, -0.0018133115317386227 ], [ 0.13767713069414772, -0.9904771616164739 ], [ -0.9978016492443605, 0.06627117597594054 ], [ 0.0, 0.9999999999230769 ] ] }, { "task_id": "0001242", "id": "RH20T_cfg4_task_0046_user_0014_scene_0009_cfg_0004_104122062823#228", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001242/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3713906762851382, 0.9284766907128456 ], [ 0.9697154995917128, 0.24423728186252583 ], [ 0.24462308344095796, -0.969618248099652 ], [ -0.9132353697992632, -0.4074323985001722 ] ] }, { "task_id": "0001243", "id": "RH20T_cfg4_task_0122_user_0007_scene_0005_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001243/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1643989872918438, 0.9863939237510627 ], [ 0.9719753357571868, -0.23508285067121373 ], [ -0.2690172572312452, -0.9631353566928057 ], [ -0.9971222661444434, 0.07581019957083418 ] ] }, { "task_id": "0001244", "id": "RH20T_cfg4_task_0007_user_0010_scene_0009_cfg_0004_104122062823#221", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sweeping a small block from right to left on the table with the gripper', and now you are performing subtask 'slide a small square from the right side of the table to the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001244/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8530220193169735, 0.5218749223333046 ], [ 0.599535255985163, -0.8003483471781554 ], [ -0.7484125933754026, -0.6632334355844135 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0001245", "id": "RH20T_cfg4_task_0091_user_0007_scene_0007_cfg_0004_104122062823#86", "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 from the left 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001245/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956915551624195, 0.0927271641874298 ], [ 0.17924473052871429, -0.9838045164450551 ], [ -0.11684124756398424, 0.993150604293866 ], [ -0.9871402822915678, -0.15985638266057467 ] ] }, { "task_id": "0001246", "id": "RH20T_cfg4_task_0042_user_0014_scene_0003_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001246/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5793546247934424, -0.8150755908076561 ], [ -0.7823482127920031, -0.6228412911337516 ], [ -0.6951782703966649, 0.7188373754670117 ], [ 0.7474093186526252, 0.6643638388023335 ] ] }, { "task_id": "0001247", "id": "RH20T_cfg7_task_0064_user_0014_scene_0010_cfg_0007_104122064161#89", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001247/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999711246742228, 0.007599330086924179 ], [ 0.08933328863681601, -0.9960017889247647 ], [ -0.9997044218060097, 0.024311911103651947 ], [ -0.04993761694139846, 0.9987523388279693 ] ] }, { "task_id": "0001248", "id": "RH20T_cfg4_task_0084_user_0007_scene_0008_cfg_0004_104122062823#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'attach the bubble ring to the soccer ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001248/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991557216969319, 0.04108337620356048 ], [ 0.13790766706504107, -0.9904450895252487 ], [ -0.9921463755236704, 0.1250822510800159 ], [ 0.01723881725054761, 0.9998514005317614 ] ] }, { "task_id": "0001249", "id": "RH20T_cfg1_task_0021_user_0015_scene_0005_cfg_0001_038522062547#334", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001249/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05801918803583642, -0.9983154680859464 ], [ 0.9999999989999999, 0.0 ], [ -0.9990674748641397, 0.04317615856687275 ], [ 0.0036909529566853854, 0.999993188409937 ] ] }, { "task_id": "0001250", "id": "RH20T_cfg7_task_0053_user_0014_scene_0002_cfg_0007_104122064161#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the clamp from the plate and place it into the yellow plate', and now you are performing subtask 'pick up the clamp from the plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001250/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9991686696390459, -0.04076726151876102 ], [ 0.13822059073995255, -0.9904014682417926 ], [ -0.9979324115523367, -0.06427209327023425 ] ] }, { "task_id": "0001252", "id": "RH20T_cfg4_task_0077_user_0015_scene_0010_cfg_0004_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the small Lego 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001252/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.999999999875 ], [ 0.993973322778127, 0.1096222313466093 ], [ 0.09044696768324412, -0.995901273237918 ], [ -0.9996525817062741, -0.02635746361053921 ] ] }, { "task_id": "0001253", "id": "RH20T_cfg2_task_0014_user_0006_scene_0005_cfg_0002_037522062165#154", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001253/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981916106860419, 0.06011246423168206 ], [ -0.1414213562173095, 0.9899494935211665 ], [ 0.09137798342778003, -0.9958162803171439 ], [ -0.9670261089662691, -0.2546772557131033 ] ] }, { "task_id": "0001254", "id": "RH20T_cfg5_task_0068_user_0007_scene_0001_cfg_0005_104122063678#211", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press a red button on a white base vertically'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001254/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.3317250131830017, 0.9433761262766498 ], [ 0.9335496503135567, -0.3584481139571471 ], [ -0.35718058698856114, -0.934035346375343 ] ] }, { "task_id": "0001255", "id": "RH20T_cfg5_task_0001_user_0014_scene_0008_cfg_0005_104122063678#125", "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 red button from the top to the bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001255/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7522279069044479, -0.6589030096107874 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.4820001958973627, -0.8761711083771846 ], [ -0.887317063707564, 0.46115987298700073 ] ] }, { "task_id": "0001256", "id": "RH20T_cfg6_task_0007_user_0014_scene_0001_cfg_0006_104122063633#201", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block from above the table to below the table', and now you are performing subtask 'move the wooden block from above the table to below 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001256/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.997526024311173, -0.07029815660417416 ], [ 0.0, 0.9999999989999999 ], [ -0.06321113141164171, -0.9980001767863872 ], [ -0.9998892744061627, -0.014880824154516243 ] ] }, { "task_id": "0001257", "id": "RH20T_cfg7_task_0006_user_0020_scene_0005_cfg_0007_104122064161#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push a block to move another block', and now you are performing subtask 'pick up the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001257/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8174931904702766, 0.5759382636487422 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.48439928844584057, 0.8748470319736836 ], [ 0.8306653658032181, -0.5567719910834289 ] ] }, { "task_id": "0001258", "id": "RH20T_cfg2_task_0094_user_0007_scene_0010_cfg_0002_037522062165#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001258/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2111378646017213, 0.9774562916731496 ], [ -0.9701425000276848, 0.2425356250069212 ], [ 0.9637171750077843, -0.26692547011294293 ], [ -0.3555790869713823, -0.9346461966480141 ] ] }, { "task_id": "0001259", "id": "RH20T_cfg2_task_0070_user_0014_scene_0010_cfg_0002_105422061350#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the window open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001259/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9954139009021467, -0.0956617263631147 ], [ 0.0, -0.9999999989999999 ], [ 0.07390141328601596, 0.9972655519541069 ], [ 0.9991125539703518, -0.04212011988160704 ] ] }, { "task_id": "0001260", "id": "RH20T_cfg5_task_0122_user_0010_scene_0003_cfg_0005_104122063678#267", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001260/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5998821474506018, 0.8000883758498523 ], [ 0.8921848807032815, 0.45167038716797814 ], [ -0.8137334711121403, -0.5812381936515288 ], [ 0.6918260386875719, -0.7220642161150644 ] ] }, { "task_id": "0001261", "id": "RH20T_cfg5_task_0103_user_0007_scene_0009_cfg_0005_104122063678#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate into the goal', and now you are performing subtask 'push the plate towards 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001261/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998453116772302, -0.01758842565616243 ], [ 0.1414213562273095, 0.9899494935911665 ], [ -0.2538072752069071, -0.9672548097849115 ], [ -0.9877458254563726, 0.15607108730802524 ] ] }, { "task_id": "0001262", "id": "RH20T_cfg6_task_0083_user_0007_scene_0001_cfg_0006_104122064161#205", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001262/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.929878864401416, -0.36786586895162376 ], [ 0.4472135954666246, 0.8944271909332492 ], [ -0.5180949829631899, -0.8553230901994707 ], [ -0.9378892038649849, 0.34693492368671225 ] ] }, { "task_id": "0001263", "id": "RH20T_cfg4_task_0107_user_0007_scene_0007_cfg_0004_104122062823#142", "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 colorful blanket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001263/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9479638252678066, 0.31837805512256545 ], [ -0.3162277659835046, -0.9486832979505138 ], [ 0.37700553481747184, 0.9262110055041411 ], [ 0.951703170650304, -0.307019665451838 ] ] }, { "task_id": "0001264", "id": "RH20T_cfg1_task_0002_user_0004_scene_0007_cfg_0001_039422060546#200", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the tissue from the tissue 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001264/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7880399380060896, -0.6156241191728591 ], [ 0.6246950474568633, 0.7808688093210792 ], [ -0.5097551358287288, -0.8603195345313474 ], [ -0.7449672260974822, 0.6671010658368212 ] ] }, { "task_id": "0001265", "id": "RH20T_cfg2_task_0085_user_0007_scene_0001_cfg_0002_037522062165#204", "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 on the wooden 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001265/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9980293579041769, 0.06274871123279244 ], [ -0.1461397562886141, 0.9892639544792403 ], [ 0.9977578046018951, -0.06692804610928484 ] ] }, { "task_id": "0001266", "id": "RH20T_cfg2_task_0006_user_0013_scene_0001_cfg_0002_105422061350#229", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from right to left with the gripper', and now you are performing subtask 'push the small block from the right position to the left position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001266/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8868433269967922, -0.4620702472149236 ], [ -0.35752449376045936, -0.93390376183059 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9436412710406773, 0.33097001614758864 ] ] }, { "task_id": "0001267", "id": "RH20T_cfg4_task_0126_user_0007_scene_0003_cfg_0004_104122062823#233", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001267/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.15512721722248773, -0.9878945016937827 ], [ -0.9981973456729956, 0.060017156641966496 ], [ -0.014231391368094386, 0.9998987286219181 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0001268", "id": "RH20T_cfg5_task_0050_user_0007_scene_0010_cfg_0005_104122063678#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001268/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, -0.8944271907999158 ], [ -0.9394522026322354, 0.34267996581277027 ], [ 0.5029502509876994, 0.8643153620244235 ], [ 0.9453845543193563, -0.3259571205762993 ] ] }, { "task_id": "0001269", "id": "RH20T_cfg4_task_0121_user_0007_scene_0006_cfg_0004_104122062823#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'taking out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise to take it out'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001269/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7501140395831213, 0.6613084965583701 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.6601014098998673, -0.7511764963363853 ], [ -0.7917527055678736, -0.6108417579258577 ] ] }, { "task_id": "0001270", "id": "RH20T_cfg4_task_0075_user_0007_scene_0010_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the white pawn from the blue 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001270/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9652956621465852, -0.26115950038431635 ], [ -0.3229300605167628, -0.9464228315159351 ], [ -0.9330310211267137, 0.3597959332944748 ], [ 0.2425356250069212, 0.9701425000276848 ] ] }, { "task_id": "0001271", "id": "RH20T_cfg5_task_0091_user_0007_scene_0005_cfg_0005_104122063678#220", "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 block from the black 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001271/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8218798442037583, 0.5696608830625517 ], [ 0.4676163785825538, -0.8839315145877183 ], [ -0.882674132899885, -0.4699855052120612 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0001272", "id": "RH20T_cfg7_task_0029_user_0020_scene_0001_cfg_0007_104122064161#140", "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 the outside 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001272/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6945046585522217, -0.7194882064698921 ], [ -0.6167492572361594, -0.7871596748428148 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7396342154151503, 0.6730090841788209 ] ] }, { "task_id": "0001273", "id": "RH20T_cfg5_task_0038_user_0007_scene_0005_cfg_0005_104122063678#246", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001273/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8831682849519704, 0.4690562657666937 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.40855332553244833, 0.9127344521800288 ], [ 0.9272606848216511, -0.37441637568899505 ] ] }, { "task_id": "0001274", "id": "RH20T_cfg4_task_0089_user_0014_scene_0008_cfg_0004_104122062823#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the cube on the right side of the desktop to the left and avoid colliding with the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001274/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.20952908871623932, 0.9778024140091168 ], [ 0.9981564076787316, -0.060694199145302975 ], [ -0.229782690448869, -0.9732419612666109 ], [ -0.9727785382273552, 0.2317367376232137 ] ] }, { "task_id": "0001275", "id": "RH20T_cfg2_task_0017_user_0006_scene_0006_cfg_0002_037522062165#302", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001275/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6283754526048774, -0.7779102072627764 ], [ -0.7342812866672074, 0.6788453373562718 ], [ 0.7071067810198809, -0.7071067810198809 ], [ 0.7465515666265493, 0.665327557198291 ] ] }, { "task_id": "0001276", "id": "RH20T_cfg5_task_0026_user_0010_scene_0001_cfg_0005_104122063678#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a gripper to push and close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001276/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975095752741336, 0.07053117917926553 ], [ -0.13344254361770191, -0.991056551137642 ], [ 0.0, 0.9999999996666666 ], [ -0.9977572053987835, 0.06693697838123334 ] ] }, { "task_id": "0001277", "id": "RH20T_cfg3_task_0020_user_0011_scene_0008_cfg_0003_104122062823#128", "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 it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001277/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09053574603432181, 0.9958932063775399 ], [ 0.9990833732465169, 0.04280669693355656 ], [ 0.1068163698977427, -0.9942787652976748 ], [ -0.9998358254211241, 0.01811966347533349 ] ] }, { "task_id": "0001278", "id": "RH20T_cfg7_task_0038_user_0014_scene_0004_cfg_0007_104122064161#83", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001278/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8604584109094097, -0.5095206797523076 ], [ -0.392803953023895, -0.9196222346642136 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9275192539119508, 0.37377537856661747 ] ] }, { "task_id": "0001279", "id": "RH20T_cfg1_task_0031_user_0001_scene_0010_cfg_0001_038522062547#448", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'fold the cardboard box 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001279/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.5815816953396202, 0.8134880033816684 ], [ 0.9485897040562614, 0.31650840961727117 ], [ 0.3142775955947997, -0.9493311292205432 ] ] }, { "task_id": "0001280", "id": "RH20T_cfg3_task_0067_user_0010_scene_0006_cfg_0003_104122062823#90", "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 button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001280/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7264940703815498, 0.6871727335251653 ], [ 0.5170556836665734, -0.8559517626525996 ], [ -0.7237431013080818, -0.6900695061433737 ], [ -0.613940613501459, 0.7893522173590187 ] ] }, { "task_id": "0001281", "id": "RH20T_cfg4_task_0105_user_0007_scene_0020_cfg_0004_104122062823#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001281/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0895536225304556, -0.9959820021926464 ], [ -0.9992912402830765, 0.037643287496057255 ], [ 0.06100674000256827, 0.998137354112278 ], [ 0.999999999875, 0.0 ] ] }, { "task_id": "0001282", "id": "RH20T_cfg4_task_0068_user_0015_scene_0009_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the robot arm button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001282/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8301304350885922, -0.5575692430000283 ], [ 0.668964731572726, 0.7432941461919177 ], [ -0.6784923373485203, -0.7346074789704647 ], [ -0.7764969722216912, 0.6301209821379908 ] ] }, { "task_id": "0001284", "id": "RH20T_cfg2_task_0041_user_0007_scene_0001_cfg_0002_037522062165#203", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001284/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9998468948300002, 0.017498197015876488 ], [ 0.08791656308154844, 0.9961278421648139 ], [ 0.0, -0.9999999989999999 ], [ 0.9944829219738824, 0.10489860772331075 ] ] }, { "task_id": "0001285", "id": "RH20T_cfg4_task_0015_user_0010_scene_0001_cfg_0004_104122062823#191", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001285/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5939676613603457, -0.8044889168025385 ], [ 0.79999999992, 0.59999999994 ], [ -0.777560185062077, -0.6288085230069872 ], [ -0.7007770985062539, 0.7133803040518824 ] ] }, { "task_id": "0001286", "id": "RH20T_cfg6_task_0064_user_0007_scene_0004_cfg_0006_104122063633#156", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001286/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7278577582189889, 0.6857281413216377 ], [ -0.7071067810865475, 0.7071067810865475 ], [ 0.7797644678183728, -0.6260729787556158 ], [ -0.6177863684041225, -0.7863459817497931 ] ] }, { "task_id": "0001287", "id": "RH20T_cfg3_task_0060_user_0010_scene_0009_cfg_0003_104122062823#237", "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 knob counterclockwise to decrease the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001287/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.8855402262110122, 0.4645627059527587 ], [ 0.36907225840289004, -0.9294007037211616 ], [ -0.8650854522631793, -0.5016245212134377 ] ] }, { "task_id": "0001288", "id": "RH20T_cfg3_task_0035_user_0010_scene_0002_cfg_0003_104122062823#197", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001288/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999996666666 ], [ 0.9999572428279185, 0.009247297766769193 ], [ 0.055825768926357405, -0.9984405257819722 ], [ -0.9906189640782782, 0.13665309366596448 ] ] }, { "task_id": "0001289", "id": "RH20T_cfg4_task_0018_user_0016_scene_0009_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take a block from the Jenga tower', and now you are performing subtask 'pull a Jenga block from the tower'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001289/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9966243941770424, 0.08209638805235704 ], [ -0.0027982335998191937, -0.9999960849366966 ], [ -0.9997328257735765, -0.023114434251781463 ] ] }, { "task_id": "0001290", "id": "RH20T_cfg6_task_0213_user_0014_scene_0005_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife on the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001290/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7416963436562717, -0.670735815211114 ], [ 0.6246950474568633, -0.7808688093210792 ], [ -0.6116123985007761, 0.791157553209301 ], [ 0.7346332087421041, 0.6784644785199001 ] ] }, { "task_id": "0001291", "id": "RH20T_cfg3_task_0029_user_0011_scene_0007_cfg_0003_104122062823#179", "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 lower drawer outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001291/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9948989116965652, 0.10087693247214857 ], [ 0.009886399380335515, -0.9999511283594277 ], [ -0.9920211015376535, -0.12607194019297205 ] ] }, { "task_id": "0001292", "id": "RH20T_cfg5_task_0067_user_0007_scene_0002_cfg_0005_104122063678#233", "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 button 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001292/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196148306, 0.8320502942224591 ], [ 0.7628626128424686, 0.6465606189114537 ], [ 0.4528214380410729, -0.8916012254648459 ], [ -0.7549931063781575, -0.6557327270477357 ] ] }, { "task_id": "0001293", "id": "RH20T_cfg3_task_0018_user_0011_scene_0003_cfg_0003_038522062288#233", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the blocks stacked in the middle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001293/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ -0.07271490969964962, 0.9973527670324938 ], [ 0.9991326746065615, 0.041640107270983315 ], [ 0.09612313743922624, -0.9953694502288282 ] ] }, { "task_id": "0001294", "id": "RH20T_cfg4_task_0094_user_0014_scene_0007_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'open the box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001294/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1529450564824359, -0.9882346936318237 ], [ 0.99999999996, 0.0 ], [ -0.9975942018518642, -0.06932393837298996 ], [ -0.03822686593358445, 0.9992690862429878 ] ] }, { "task_id": "0001295", "id": "RH20T_cfg2_task_0021_user_0003_scene_0009_cfg_0002_037522062165#170", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001295/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.13192399102042598, -0.9912598350549884 ], [ -0.9990949647020634, 0.04253529718930689 ], [ 0.9999999989999999, 0.0 ], [ 0.10694328764599151, 0.9942651222020548 ] ] }, { "task_id": "0001298", "id": "RH20T_cfg5_task_0044_user_0010_scene_0003_cfg_0005_104122063678#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a generation of things and then put it down', and now you are performing subtask 'pick up the bag on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001298/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.4662264096270094, -0.884665436742223 ], [ -0.8248062788692051, -0.5654154245666942 ], [ -0.42684487182566955, 0.9043248616488037 ] ] }, { "task_id": "0001299", "id": "RH20T_cfg4_task_0088_user_0015_scene_0002_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block and place it on the left side, there are obstacles', and now you are performing subtask 'pick up the block in the top right corner of the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001299/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8839238720686922, -0.46763082488977403 ], [ 0.46788772039470844, 0.8837879163011159 ], [ -0.39797733181702494, -0.9173952492572662 ], [ -0.8032509424734608, 0.5956407670865862 ] ] }, { "task_id": "0001300", "id": "RH20T_cfg2_task_0026_user_0003_scene_0006_cfg_0002_037522062165#308", "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 to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001300/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.20344371138985384, -0.9790866439166259 ], [ -0.9905757986813829, -0.1369656419206672 ], [ 0.9863939236699816, 0.16439898727833027 ], [ -0.030398043037077653, 0.9995378727089415 ] ] }, { "task_id": "0001301", "id": "RH20T_cfg5_task_0122_user_0007_scene_0007_cfg_0005_104122063678#314", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from beside the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001301/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1322852675356453, 0.991211686771813 ], [ -0.9999999995, 0.0 ], [ 0.9978359422253906, -0.06575281289167051 ], [ -0.14234613948690789, -0.9898169409406842 ] ] }, { "task_id": "0001302", "id": "RH20T_cfg5_task_0071_user_0007_scene_0004_cfg_0005_104122063678#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'slide the edge of the window to close the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001302/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8603091031521157, 0.5097727405752512 ], [ 0.32174411794091545, -0.946826659199255 ], [ -0.9432594341707842, -0.3320566816792159 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0001303", "id": "RH20T_cfg6_task_0088_user_0020_scene_0010_cfg_0006_104122064161#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block', and now you are performing subtask 'pick up the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001303/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41667712334700985, 0.9090545500019572 ], [ 0.9228338318955218, -0.3851982849248268 ], [ -0.5692915917202775, -0.8221356844199095 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0001304", "id": "RH20T_cfg4_task_0217_user_0014_scene_0009_cfg_0004_038522062288#127", "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 lamp holder 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001304/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8583385369877156, -0.5130837708618236 ], [ 0.44721359543329126, 0.8944271908665825 ], [ -0.5086400596970547, -0.8609792620448977 ], [ -0.862063378494798, 0.5068004848637526 ] ] }, { "task_id": "0001305", "id": "RH20T_cfg3_task_0026_user_0011_scene_0003_cfg_0003_104122062823#105", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001305/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33049393776887254, -0.9438081145540256 ], [ -0.9307247019184627, -0.3657205616844491 ], [ 0.9486832979755138, 0.31622776599183794 ], [ -0.2769108462825668, 0.9608956151482182 ] ] }, { "task_id": "0001306", "id": "RH20T_cfg5_task_0021_user_0010_scene_0004_cfg_0005_104122063678#196", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001306/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8137334711121403, -0.5812381936515288 ], [ -0.5346231120164002, -0.845090603484561 ], [ -0.7571611987571127, 0.6532280758637768 ], [ 0.6725270633669009, 0.7400725295801031 ] ] }, { "task_id": "0001307", "id": "RH20T_cfg2_task_0044_user_0007_scene_0004_cfg_0002_037522062165#263", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pull the bag upward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001307/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.22123718162560174, -0.9752200313090172 ], [ -0.9695558067379638, -0.2448704506891271 ], [ -0.261179051301554, 0.965290372458578 ], [ 0.9701424999100378, 0.24253562497750944 ] ] }, { "task_id": "0001308", "id": "RH20T_cfg5_task_0015_user_0007_scene_0001_cfg_0005_104122063678#331", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the wooden stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001308/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.0488127983905699, 0.9988079448589111 ], [ 0.9964949061321494, 0.08365346408056662 ], [ -0.13132304964821964, -0.9913396272877885 ] ] }, { "task_id": "0001310", "id": "RH20T_cfg6_task_0038_user_0014_scene_0009_cfg_0006_104122064161#107", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001310/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1414213562323095, 0.9899494936261665 ], [ 0.9812834806324068, -0.1925687685943621 ], [ -0.1182713328981266, -0.9929813149372453 ], [ -0.99627321138475, 0.08625362761714557 ] ] }, { "task_id": "0001312", "id": "RH20T_cfg4_task_0044_user_0014_scene_0006_cfg_0004_038522062288#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001312/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ 0.1123210530295388, 0.993671968532038 ], [ 0.9953973583616772, 0.0958337047525289 ], [ 0.04339341257799337, -0.9990580622490547 ] ] }, { "task_id": "0001313", "id": "RH20T_cfg6_task_0130_user_0014_scene_0007_cfg_0006_104122064161#87", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001313/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9554482707161518, 0.29515860479666717 ], [ 0.3705243310576605, -0.9288227603231272 ], [ -0.9905233875292841, -0.13734416171614788 ], [ -0.2425356250216271, 0.9701425000865084 ] ] }, { "task_id": "0001314", "id": "RH20T_cfg5_task_0071_user_0007_scene_0008_cfg_0005_104122063678#175", "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 the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001314/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8751360940998923, 0.483876861198781 ], [ 0.32194974143211097, -0.9467567607320251 ], [ -0.4472135953999579, 0.8944271907999158 ], [ -0.9235002502188187, -0.38359782043929724 ] ] }, { "task_id": "0001315", "id": "RH20T_cfg3_task_0004_user_0016_scene_0007_cfg_0003_104122062823#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001315/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930519463313623, 0.11767681117150111 ], [ 0.2680495748902463, -0.9634051200824907 ], [ -0.9615842034213024, -0.2745101450413435 ], [ -0.21693045779512676, 0.9761870600780704 ] ] }, { "task_id": "0001316", "id": "RH20T_cfg4_task_0086_user_0015_scene_0002_cfg_0004_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the pen 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001316/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502941070744, 0.554700196071383 ], [ 0.5881066503392509, -0.8087833874572018 ], [ -0.8641212927400751, -0.5032836093429047 ], [ -0.5286056003663414, 0.8488675510710372 ] ] }, { "task_id": "0001317", "id": "RH20T_cfg7_task_0226_user_0066_scene_0005_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cut the cucumber into segments', and now you are performing subtask 'pick up the kitchen knife from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001317/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.489227435374547, 0.8721562454496576 ], [ 0.9436121982276964, 0.33105289510272323 ], [ 0.5000797474255154, -0.8659793566909275 ] ] }, { "task_id": "0001318", "id": "RH20T_cfg5_task_0068_user_0007_scene_0006_cfg_0005_104122063678#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the tip of the robotic arm horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001318/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998011449160881, -0.019941680583129635 ], [ 0.0, 0.9999999989999999 ], [ 0.005472875147662719, -0.9999850237066644 ], [ -0.9889177940485369, -0.1484641256808378 ] ] }, { "task_id": "0001319", "id": "RH20T_cfg4_task_0200_user_0017_scene_0005_cfg_0004_104122062823#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from the position in front of the pipette rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001319/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5502679933041084, -0.8349881050320835 ], [ -0.7450220917546435, -0.6670397910151505 ], [ 0.7682212794990152, 0.6401843995825127 ], [ -0.5642670638787181, 0.8255923210772317 ] ] }, { "task_id": "0001320", "id": "RH20T_cfg4_task_0101_user_0014_scene_0003_cfg_0004_104122062823#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001320/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12365340043922085, 0.992325469067391 ], [ 0.998469667938816, 0.05530209947326309 ], [ -0.11343113816870933, -0.9935458604884584 ], [ -0.99999999975, 0.0 ] ] }, { "task_id": "0001321", "id": "RH20T_cfg4_task_0103_user_0014_scene_0013_cfg_0004_104122062823#182", "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 'slide the plate to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001321/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4894379779622432, -0.8720381102499081 ], [ -0.9485180565158841, -0.3167230595699184 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.5576649634610703, 0.8300661350326028 ] ] }, { "task_id": "0001322", "id": "RH20T_cfg4_task_0080_user_0007_scene_0003_cfg_0004_104122062823#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001322/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9754310789363151, 0.22030481212433012 ], [ 0.31541483900110295, 0.9489538868342909 ], [ 0.975917895767313, -0.21813816887720483 ], [ -0.31622776591683793, -0.9486832977505137 ] ] }, { "task_id": "0001323", "id": "RH20T_cfg2_task_0094_user_0007_scene_0008_cfg_0002_037522062165#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'open the cardboard box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001323/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999411765 ], [ 0.9928554082127193, 0.11932367067248036 ], [ -0.05467156262383194, -0.9985043916980378 ], [ -0.9930152642663551, -0.11798595227407743 ] ] }, { "task_id": "0001324", "id": "RH20T_cfg4_task_0095_user_0014_scene_0005_cfg_0004_038522062288#253", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'pick up the photo frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001324/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06633138657786969, 0.997797648401046 ], [ 0.9945525292127915, -0.10423658971992349 ], [ -0.9999999998, 0.0 ], [ -0.04272101322972938, -0.9990870407670321 ] ] }, { "task_id": "0001325", "id": "RH20T_cfg3_task_0047_user_0010_scene_0007_cfg_0003_104122062823#171", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001325/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8877609427596906, 0.46030479957352755 ], [ 0.24135145612463482, -0.970437774731857 ], [ -0.9663188252123142, -0.2573478735880541 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0001326", "id": "RH20T_cfg4_task_0084_user_0007_scene_0005_cfg_0004_104122062823#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001326/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13756837127090274, 0.9904922731504997 ], [ 0.9999607733536121, 0.008857299478167342 ], [ -0.13614934005321572, -0.9906883249554694 ], [ -0.957636509026219, 0.287979715570518 ] ] }, { "task_id": "0001327", "id": "RH20T_cfg2_task_0091_user_0007_scene_0001_cfg_0002_037522062165#279", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the object from one box to another', and now you are performing subtask 'pick up the cube from the pink 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001327/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9958183644290557, -0.0913552684076863 ], [ 0.08892422694373264, -0.9960383937692661 ], [ -0.9942706661354761, 0.10689173243294672 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001328", "id": "RH20T_cfg6_task_0119_user_0020_scene_0009_cfg_0006_104122064161#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the faucet handle 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001328/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6368823724714979, -0.7709609871031582 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6098806318163005, -0.7924932901516265 ], [ -0.66093470480846, 0.7504434129098302 ] ] }, { "task_id": "0001329", "id": "RH20T_cfg3_task_0049_user_0010_scene_0007_cfg_0003_104122062823#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel counterclockwise', and now you are performing subtask 'twist the steering wheel 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001329/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6153716531223001, 0.7882371017235408 ], [ 0.8069193630027003, -0.5906616134567375 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6811848209093941, -0.7321114940790349 ] ] }, { "task_id": "0001331", "id": "RH20T_cfg6_task_0043_user_0020_scene_0009_cfg_0006_104122064161#173", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001331/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12852522990806603, 0.9917062394061453 ], [ -0.9999999995, 0.0 ], [ 0.9999235495478662, -0.012365074184819852 ], [ -0.15615001585993854, -0.987733350933814 ] ] }, { "task_id": "0001332", "id": "RH20T_cfg4_task_0046_user_0014_scene_0010_cfg_0004_104122062823#196", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001332/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3542186679833292, 0.9351626250295272 ], [ 0.9937416100244382, 0.11170323408942795 ], [ -0.9701425000669006, -0.24253562501672515 ], [ 0.13591187724217693, -0.9907209302444899 ] ] }, { "task_id": "0001333", "id": "RH20T_cfg6_task_0038_user_0020_scene_0003_cfg_0006_104122064161#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the cup on the specified position of the table', and now you are performing subtask 'pick up the cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001333/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9682736017098315, 0.24989244132600463 ], [ 0.16315181144851473, -0.9866009762923754 ], [ -0.9743901302057374, -0.22486412376732376 ], [ -0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0001334", "id": "RH20T_cfg6_task_0103_user_0020_scene_0002_cfg_0006_104122064161#143", "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 'pick up the plate 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001334/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8085537427489194, -0.5884223356456774 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6487477344753251, -0.7610035328519396 ], [ -0.618735611914433, 0.7855992887909664 ] ] }, { "task_id": "0001335", "id": "RH20T_cfg4_task_0062_user_0016_scene_0001_cfg_0004_104122062823#108", "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 top of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001335/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9963159132038513, -0.08575897094051382 ], [ 0.052558833120001244, 0.9986178292800236 ], [ -0.19303590282223815, -0.9811916939220406 ], [ -0.9977836765776701, -0.06654122598169931 ] ] }, { "task_id": "0001336", "id": "RH20T_cfg7_task_0053_user_0014_scene_0009_cfg_0007_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the red clamp on the white plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001336/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990047461010414, -0.14073387988268113 ], [ 0.1110298337436079, -0.993817073720746 ], [ 0.0, 0.9999999989999999 ], [ -0.9986439235342376, -0.052060676024653293 ] ] }, { "task_id": "0001337", "id": "RH20T_cfg4_task_0002_user_0010_scene_0009_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the napkin on the table', and now you are performing subtask 'pick up a napkin from the tissue 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001337/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7101387833516819, 0.7040617219958724 ], [ 0.5568533368699746, -0.8306108362023545 ], [ -0.8732336511798575, -0.4873017447609797 ], [ -0.5931990380247154, 0.8050558373192567 ] ] }, { "task_id": "0001338", "id": "RH20T_cfg6_task_0051_user_0014_scene_0005_cfg_0006_104122064161#221", "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 bowl 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001338/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9916163013551911, 0.12921730103453963 ], [ -0.039279636457151684, 0.999228257286489 ], [ 0.0, -0.9999999995 ], [ 0.9972483485086571, -0.07413320036769071 ] ] }, { "task_id": "0001339", "id": "RH20T_cfg4_task_0062_user_0016_scene_0007_cfg_0004_104122062823#124", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001339/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.41380294426693737, 0.9103664773872623 ], [ 0.8908775445026338, 0.45424354778131726 ], [ 0.4384910165983777, -0.8987355719912956 ], [ -0.9180107080769631, -0.39655559491202863 ] ] }, { "task_id": "0001340", "id": "RH20T_cfg4_task_0080_user_0007_scene_0005_cfg_0004_104122062823#166", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001340/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6082244625864947, -0.7937650805568168 ], [ -0.7444370229350056, -0.6676926829640012 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7820089409964364, 0.6232672109148951 ] ] }, { "task_id": "0001341", "id": "RH20T_cfg4_task_0020_user_0014_scene_0005_cfg_0004_038522062288#248", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001341/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.911297576377549, -0.41174837861053587 ], [ 0.41905817743247864, 0.907959384437037 ], [ -0.378479572036484, -0.9256096442621371 ], [ -0.8856753490674717, 0.4643050463372245 ] ] }, { "task_id": "0001342", "id": "RH20T_cfg2_task_0001_user_0007_scene_0002_cfg_0002_037522062165#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button', and now you are performing subtask 'press the red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001342/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9918820909900214, 0.1271609907686421 ], [ -0.09014040187893155, -0.995929067729778 ], [ -0.9945901961406213, 0.10387656974005523 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001343", "id": "RH20T_cfg6_task_0090_user_0020_scene_0010_cfg_0006_104122064161#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the cup to the left', and now you are performing subtask 'push the cup to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001343/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6085479526653245, -0.7935171008282317 ], [ -0.6685346560100293, -0.7436809892107985 ], [ -0.7675546619160115, 0.6409834950846998 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001344", "id": "RH20T_cfg4_task_0008_user_0010_scene_0009_cfg_0004_104122062823#173", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the block from the table to the designated location', and now you are performing subtask 'pick up the block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001344/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5547001962142402, 0.8320502943213602 ], [ 0.8286769011171142, 0.5597272492517552 ], [ 0.5609246519119298, -0.8278668581828122 ], [ -0.7883487336661994, -0.6152286356525513 ] ] }, { "task_id": "0001346", "id": "RH20T_cfg7_task_0035_user_0014_scene_0010_cfg_0007_104122064161#64", "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 cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001346/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7923190322390253, -0.610106999756448 ], [ -0.5872913619158054, -0.8093755965057747 ], [ 0.6050832675142881, 0.7961621940977475 ], [ -0.7835204532144627, 0.6213659947201834 ] ] }, { "task_id": "0001347", "id": "RH20T_cfg7_task_0022_user_0020_scene_0003_cfg_0007_104122064161#126", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001347/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9546820625280484, -0.29762755162651083 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.22894483960883827, -0.973439397403086 ], [ -0.9640323923478841, 0.2657847747784201 ] ] }, { "task_id": "0001348", "id": "RH20T_cfg6_task_0209_user_0014_scene_0008_cfg_0006_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001348/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.49343974076336655, 0.8697799849590595 ], [ -0.8944271907999158, -0.4472135953999579 ], [ 0.9302997592366625, 0.3668001608017746 ], [ 0.5524939920279275, -0.8335168797169284 ] ] }, { "task_id": "0001349", "id": "RH20T_cfg5_task_0029_user_0010_scene_0003_cfg_0005_104122063678#233", "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 to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001349/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502941070744, 0.554700196071383 ], [ 0.6050404013676223, 0.7961947705887716 ], [ 0.8115237285403073, -0.5843194657172031 ], [ -0.6445270495358949, -0.7645815080268121 ] ] }, { "task_id": "0001350", "id": "RH20T_cfg7_task_0045_user_0014_scene_0005_cfg_0007_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001350/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2425356250069212, 0.9701425000276848 ], [ 0.9749639102636258, -0.22236315720788913 ], [ -0.17818438485903024, -0.9839971163537061 ], [ -0.9422441773946143, 0.334926723576884 ] ] }, { "task_id": "0001351", "id": "RH20T_cfg4_task_0200_user_0010_scene_0010_cfg_0004_104122062823#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001351/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.37791342158456526, -0.9258409397873086 ], [ -0.9904633933011846, 0.13777614644887878 ], [ 0.9647638211531168, -0.26311740576903186 ], [ 0.22570897161562803, 0.9741947752540123 ] ] }, { "task_id": "0001352", "id": "RH20T_cfg2_task_0002_user_0007_scene_0007_cfg_0002_037522062165#301", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up a tissue'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001352/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16333318645596165, -0.9865709656188663 ], [ -0.9888032567896688, -0.14922506278150527 ], [ -0.2780114045152599, 0.9605777735089713 ], [ 0.9805806754986125, 0.1961161350997225 ] ] }, { "task_id": "0001353", "id": "RH20T_cfg4_task_0089_user_0014_scene_0009_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the small cube on the green table around the obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001353/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07669649887885469, 0.9970544854251109 ], [ 0.9997347546743618, 0.02303085530747244 ], [ -0.1758104399409621, -0.9844240393284621 ], [ -0.9990317798520912, 0.043994350155023045 ] ] }, { "task_id": "0001354", "id": "RH20T_cfg4_task_0017_user_0016_scene_0001_cfg_0004_104122062823#140", "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 on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001354/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2747211278785101, 0.9615239475747854 ], [ 0.9360932038198756, 0.3517520629111376 ], [ 0.2175853754742983, -0.9760412923538168 ], [ -0.9111968459246127, -0.4119712465415974 ] ] }, { "task_id": "0001355", "id": "RH20T_cfg4_task_0042_user_0014_scene_0007_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001355/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9985947298396214, 0.05299590112955442 ], [ 0.0, 0.9999999995 ], [ -0.0003238204539369506, -0.9999999475701555 ], [ -0.9997744848210965, 0.021236277939202387 ] ] }, { "task_id": "0001356", "id": "RH20T_cfg4_task_0092_user_0014_scene_0006_cfg_0004_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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001356/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.15205718424816075, 0.9883716976130449 ], [ 0.9921859024177708, 0.12476832548140512 ], [ 0.049599281807644655, -0.9987691981855298 ], [ -0.9948054947199644, -0.10179404538069499 ] ] }, { "task_id": "0001357", "id": "RH20T_cfg1_task_0020_user_0004_scene_0001_cfg_0001_039422060546#410", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001357/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3315494621861906, 0.9434378379755858 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9738057103225111, -0.22738170230532995 ], [ -0.3749096880252014, -0.927061338760735 ] ] }, { "task_id": "0001358", "id": "RH20T_cfg2_task_0054_user_0007_scene_0013_cfg_0002_105422061350#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the toy from the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001358/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7420502435811999, 0.670344266777215 ], [ 0.7561580900358398, 0.6543889843765334 ], [ 0.6353780646153462, -0.7722012140664226 ], [ -0.7348034445859544, -0.6782801026947272 ] ] }, { "task_id": "0001360", "id": "RH20T_cfg4_task_0059_user_0016_scene_0005_cfg_0004_104122062823#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob on the speaker clockwise', and now you are performing subtask 'twist the knob clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001360/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6778812906960353, -0.7351713784719026 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7828895383309048, -0.6221607274426946 ], [ -0.6094741387596488, 0.792805949891387 ] ] }, { "task_id": "0001361", "id": "RH20T_cfg6_task_0047_user_0014_scene_0005_cfg_0006_104122064161#141", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001361/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.006990624457197666, 0.9999755652863216 ], [ 0.9999905979420749, 0.004336361084076828 ], [ -0.013607593120037537, -0.9999074124185097 ] ] }, { "task_id": "0001362", "id": "RH20T_cfg4_task_0222_user_0014_scene_0010_cfg_0004_104122062823#170", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001362/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07446453826906627, 0.9972236622445211 ], [ 0.9916158191204586, 0.12922100166018716 ], [ -0.9999999995, 0.0 ], [ -0.0001405758327593066, -0.9999999901192176 ] ] }, { "task_id": "0001363", "id": "RH20T_cfg3_task_0032_user_0010_scene_0010_cfg_0003_104122062823#260", "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 top of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001363/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.754928489786273, 0.6558071174583401 ], [ -0.7071067810615475, -0.7071067810615475 ], [ 0.7508752949007397, 0.6604440108803526 ], [ 0.6659015085018993, -0.7460396644783004 ] ] }, { "task_id": "0001364", "id": "RH20T_cfg4_task_0067_user_0007_scene_0001_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button from top to bottom', and now you are performing subtask 'press a button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001364/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8160023134264227, -0.5780486350496178 ], [ -0.5598258026739983, -0.828610324978161 ], [ 0.505719499697376, 0.8626979700719943 ], [ -0.8061577830498162, 0.5917006243263611 ] ] }, { "task_id": "0001365", "id": "RH20T_cfg3_task_0008_user_0016_scene_0006_cfg_0003_104122062823#275", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001365/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8566994732914865, 0.5158158706962103 ], [ -0.59999999994, 0.79999999992 ], [ 0.5812335687185471, -0.8137367747587066 ], [ -0.8029922889099611, -0.5959894159724161 ] ] }, { "task_id": "0001366", "id": "RH20T_cfg6_task_0100_user_0014_scene_0010_cfg_0006_104122064161#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'turn the spoon 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001366/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4930177500766809, -0.870019251573968 ], [ 0.8320502943089976, 0.5547001962059984 ], [ -0.7702051706784642, -0.6377962018232453 ], [ -0.6737183982070193, 0.7389881730564897 ] ] }, { "task_id": "0001367", "id": "RH20T_cfg2_task_0006_user_0013_scene_0010_cfg_0002_105422061350#260", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001367/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.79999999984, 0.59999999988 ], [ 0.5737824192595972, 0.8190077749011934 ], [ 0.7604179493726336, -0.6494340168730914 ], [ -0.664059800288232, -0.7476794645041106 ] ] }, { "task_id": "0001368", "id": "RH20T_cfg7_task_0035_user_0020_scene_0010_cfg_0007_104122064161#113", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001368/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.882298461106704, -0.4706903711876229 ], [ 0.59999999988, 0.79999999984 ], [ -0.5026802307252277, -0.8644724319711021 ], [ -0.7025575147509088, 0.7116269658093535 ] ] }, { "task_id": "0001369", "id": "RH20T_cfg7_task_0047_user_0014_scene_0009_cfg_0007_104122064161#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'pull the cup from the cup rack to outside 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001369/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4212938228882217, -0.9069242056512925 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.8875439245068268, -0.46072310781099307 ], [ -0.2933959218809017, 0.9559910214137243 ] ] }, { "task_id": "0001370", "id": "RH20T_cfg4_task_0125_user_0007_scene_0007_cfg_0004_104122062823#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001370/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9416388211307631, 0.33662491075300227 ], [ 0.25184395385712943, -0.9677678558960346 ], [ -0.2747211278596422, 0.9615239475087477 ], [ -0.9561124103919671, -0.29300010016118194 ] ] }, { "task_id": "0001371", "id": "RH20T_cfg1_task_0067_user_0010_scene_0004_cfg_0001_819112070044#182", "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 from top to bottom, with obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001371/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4367710837734709, -0.8995726876575053 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9365512354806067, 0.3505307166565424 ], [ 0.31323798164793853, 0.9496746636891634 ] ] }, { "task_id": "0001372", "id": "RH20T_cfg4_task_0082_user_0015_scene_0009_cfg_0004_104122062823#84", "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 white 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001372/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7862863389586533, 0.617862276860303 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.672526026981302, -0.7400734713747987 ], [ -0.6984083357493004, -0.7156995155481751 ] ] }, { "task_id": "0001373", "id": "RH20T_cfg4_task_0068_user_0015_scene_0004_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the robotic arm horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001373/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9931506042648557, 0.11684124756057127 ], [ 0.08792826502286696, -0.9961268093019425 ], [ -0.9999999759207775, -0.00021945032370394667 ], [ -0.2327763364157919, 0.9725302962915048 ] ] }, { "task_id": "0001374", "id": "RH20T_cfg6_task_0053_user_0014_scene_0002_cfg_0006_104122063633#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001374/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9707761547119744, -0.2399867859750467 ], [ -0.1362716459104188, -0.990671508887212 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.9951485975910005, 0.0983832745575439 ] ] }, { "task_id": "0001375", "id": "RH20T_cfg3_task_0012_user_0011_scene_0008_cfg_0003_104122062823#150", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001375/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3382761990426459, -0.941046870863115 ], [ -0.9583979794839752, -0.28543530426531644 ], [ -0.17101802582934053, 0.9852679000360435 ], [ 0.9486832980255139, 0.3162277660085046 ] ] }, { "task_id": "0001376", "id": "RH20T_cfg3_task_0007_user_0016_scene_0003_cfg_0003_104122062823#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide a small block from the right side of the table to the left side', and now you are performing subtask 'slide a small block from the right side of the table to the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001376/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8451185375313934, 0.5345789534959254 ], [ 0.42648629678662686, -0.9044940235586022 ], [ -0.9507665542069133, -0.3099079853787455 ], [ -0.41380294426693737, 0.9103664773872623 ] ] }, { "task_id": "0001377", "id": "RH20T_cfg3_task_0077_user_0010_scene_0001_cfg_0003_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001377/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9510824147543112, -0.3089372757455927 ], [ -0.050221753298349985, -0.9987380915413409 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9566983871311332, 0.29108108159186213 ] ] }, { "task_id": "0001378", "id": "RH20T_cfg3_task_0033_user_0010_scene_0009_cfg_0003_104122062823#132", "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 'pick up the first block 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001378/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04526138034284926, 0.9989751785952742 ], [ 0.9944956758268044, 0.10477762529179445 ], [ -0.9999999996666666, 0.0 ], [ 0.04607027228214721, -0.9989382012976823 ] ] }, { "task_id": "0001379", "id": "RH20T_cfg7_task_0015_user_0020_scene_0001_cfg_0007_104122064161#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick on the cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001379/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9989949983062134, 0.044821795581711954 ], [ -0.13968770928178548, -0.9901956088953371 ], [ -0.997615704249216, -0.06901381481515763 ] ] }, { "task_id": "0001380", "id": "RH20T_cfg4_task_0093_user_0014_scene_0009_cfg_0004_038522062288#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001380/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3201925690679845, 0.9473524786021537 ], [ 0.9776680164309899, -0.21015529888131237 ], [ -0.3401469694531372, -0.9403722875392738 ], [ -0.9599999999616, 0.2799999999888 ] ] }, { "task_id": "0001381", "id": "RH20T_cfg3_task_0029_user_0011_scene_0010_cfg_0003_104122062823#200", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001381/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5144957553392911, 0.8574929255654853 ], [ 0.812798703171415, -0.582544649038051 ], [ -0.5694249355915574, -0.8220433338495914 ], [ -0.783897879247203, 0.6208897767814652 ] ] }, { "task_id": "0001382", "id": "RH20T_cfg7_task_0007_user_0014_scene_0007_cfg_0007_104122064161#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the block to the left side of the table', and now you are performing subtask 'pull the block to the left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001382/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9839847392539114, 0.17825272204208312 ], [ 0.15237640098896996, -0.988322534611879 ], [ -0.9828471537669904, -0.18442199525036612 ], [ -0.2425356250069212, 0.9701425000276848 ] ] }, { "task_id": "0001383", "id": "RH20T_cfg3_task_0041_user_0010_scene_0006_cfg_0003_104122062823#218", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001383/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5206019494642286, 0.8537995140629006 ], [ -0.7808688093210792, -0.6246950474568633 ], [ 0.8600477465789838, 0.5102135568606662 ], [ 0.635130736768212, -0.7724046525055815 ] ] }, { "task_id": "0001384", "id": "RH20T_cfg6_task_0085_user_0007_scene_0006_cfg_0006_104122064161#218", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001384/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7390685357476695, 0.6736302394250097 ], [ 0.5726990769614724, -0.8197656782565843 ], [ -0.8363788466799725, -0.5481518264370547 ], [ -0.59999999988, 0.79999999984 ] ] }, { "task_id": "0001385", "id": "RH20T_cfg5_task_0024_user_0010_scene_0006_cfg_0005_104122063678#294", "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 socket to turn off 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001385/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9998103587029948, 0.019474255574705744 ], [ -0.12090000304164705, -0.9926646912550732 ], [ -0.9995691132463286, 0.02935281662717367 ] ] }, { "task_id": "0001386", "id": "RH20T_cfg2_task_0001_user_0003_scene_0009_cfg_0002_104122061850#336", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001386/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.46413774612098735, -0.8857630341269215 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.8792963149586754, -0.4762751205974272 ], [ -0.5913212335182667, 0.8064361095526636 ] ] }, { "task_id": "0001387", "id": "RH20T_cfg4_task_0013_user_0007_scene_0004_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the water bottle on the scale', and now you are performing subtask 'pick up the water bottle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001387/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9524435482834582, -0.30471509206669756 ], [ -0.10736583187503827, -0.9942195824594189 ], [ 0.21693045779512676, 0.9761870600780704 ], [ -0.9487418213679597, 0.31605214188074465 ] ] }, { "task_id": "0001388", "id": "RH20T_cfg4_task_0101_user_0014_scene_0005_cfg_0004_104122062823#525", "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 the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001388/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12403473458536232, 0.9922778766828986 ], [ 0.9680496944153375, -0.2507584278591085 ], [ -0.08303153880106766, -0.9965469199010787 ], [ -0.9942624083941104, 0.10696851524791398 ] ] }, { "task_id": "0001389", "id": "RH20T_cfg4_task_0020_user_0016_scene_0005_cfg_0004_104122062823#109", "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 of the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001389/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.8615814810907487, 0.5076192977433697 ], [ 0.5635758045800423, -0.8260643513019781 ], [ -0.7370477933613145, -0.6758406249266294 ] ] }, { "task_id": "0001390", "id": "RH20T_cfg2_task_0056_user_0007_scene_0009_cfg_0002_105422061350#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'received the cube handed over by a person', and now you are performing subtask 'pick up the Rubik's Cube handed over by a human'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001390/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.15106122498351152, 0.9885244085537195 ], [ -0.9999999999285715, 0.0 ], [ 0.9915657803170869, -0.12960441082064586 ], [ 0.09865462533512878, -0.9951217337089897 ] ] }, { "task_id": "0001391", "id": "RH20T_cfg6_task_0089_user_0020_scene_0005_cfg_0006_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the small cube to the position above the plane'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001391/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6040503410919725, -0.7969461621883073 ], [ -0.6078180069813354, 0.7940763630717372 ], [ 0.8029516743753781, 0.596044133112454 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0001392", "id": "RH20T_cfg5_task_0038_user_0007_scene_0002_cfg_0005_104122063678#248", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001392/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9273897232222444, 0.37409664695338946 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5255016415654284, -0.8507925861877499 ], [ -0.9070469626781267, -0.42102946155392157 ] ] }, { "task_id": "0001393", "id": "RH20T_cfg2_task_0021_user_0003_scene_0004_cfg_0002_037522062165#261", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001393/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2141529823893202, -0.9768001331560923 ], [ -0.9367327350600794, -0.3500454014365325 ], [ -0.27774024972707373, 0.9606562099323268 ], [ 0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0001394", "id": "RH20T_cfg3_task_0020_user_0011_scene_0009_cfg_0003_104122062823#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001394/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.36266473364099583, 0.9319196805374944 ], [ 0.9181282771319966, 0.39628331624058033 ], [ 0.31564653085049416, -0.9488768453082033 ], [ -0.9191450298973682, -0.3939192985274435 ] ] }, { "task_id": "0001395", "id": "RH20T_cfg2_task_0026_user_0003_scene_0001_cfg_0002_037522062165#175", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001395/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4337295315196823, -0.901043114111482 ], [ -0.9502938250438155, 0.31135453438739885 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.3923063019276051, 0.9198346402848105 ] ] }, { "task_id": "0001396", "id": "RH20T_cfg4_task_0023_user_0014_scene_0003_cfg_0004_038522062288#141", "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 to turn it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001396/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9922778766521293, -0.12403473458151616 ], [ 0.014144043364204769, 0.9998999680154568 ], [ 0.9943945519432918, 0.10573303677422655 ], [ 0.049447329384306696, -0.9987767326168346 ] ] }, { "task_id": "0001397", "id": "RH20T_cfg6_task_0022_user_0014_scene_0009_cfg_0006_104122064161#47", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001397/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7378434333328694, -0.6749719015541044 ], [ -0.6713698603708973, -0.7411224666582182 ], [ 0.6507913734206744, 0.7592566023241202 ], [ -0.7382201907978293, 0.6745598193625355 ] ] }, { "task_id": "0001398", "id": "RH20T_cfg4_task_0047_user_0014_scene_0019_cfg_0004_104122062823#164", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001398/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9250996252230148, 0.37972448355648286 ], [ 0.3886988016381375, -0.9213648797328211 ], [ -0.8873721495540305, -0.4610538669134653 ], [ -0.44721359543329126, 0.8944271908665825 ] ] }, { "task_id": "0001399", "id": "RH20T_cfg4_task_0125_user_0010_scene_0003_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever on the table up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001399/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8925347494896432, -0.4509786258277214 ], [ -0.4335882637155052, -0.9011111016784632 ], [ -0.9379360901674785, 0.3468081469073987 ], [ 0.31622776596683794, 0.9486832979005138 ] ] }, { "task_id": "0001400", "id": "RH20T_cfg1_task_0007_user_0004_scene_0003_cfg_0001_039422060546#258", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put a block on the black circle', and now you are performing subtask 'pick up the square from the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001400/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6213654871946428, -0.7835208557041505 ], [ -0.7764902069197317, -0.630129318916167 ], [ -0.7303005037613725, 0.6831260309824869 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001401", "id": "RH20T_cfg4_task_0108_user_0015_scene_0007_cfg_0004_104122062823#145", "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 pencil sharpener clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001401/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9895318757698311, -0.14431447202356176 ], [ -0.0845659018816794, -0.9964178883575596 ], [ -0.9881149851196969, 0.1537165449192161 ] ] }, { "task_id": "0001402", "id": "RH20T_cfg6_task_0064_user_0007_scene_0005_cfg_0006_104122063633#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 'pull the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001402/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9960896142244876, 0.08834863006358061 ], [ 0.0, 0.9999999999 ], [ 0.0840736276021073, -0.9964595451606765 ], [ -0.9969564505630875, -0.07796047511816621 ] ] }, { "task_id": "0001404", "id": "RH20T_cfg1_task_0022_user_0001_scene_0005_cfg_0001_039422060546#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001404/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.037234639582232165, 0.9993065503713969 ], [ 0.9963413638460802, 0.08546277955538881 ], [ 0.10453339228814713, -0.9945213772949943 ] ] }, { "task_id": "0001405", "id": "RH20T_cfg3_task_0052_user_0010_scene_0003_cfg_0003_104122062823#92", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001405/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8968810838657891, 0.44227177323872635 ], [ 0.4906121867279212, -0.8713780363504967 ], [ -0.5355420253473013, 0.8445085784322828 ], [ -0.8912619405426561, -0.4534888679340863 ] ] }, { "task_id": "0001406", "id": "RH20T_cfg2_task_0082_user_0014_scene_0009_cfg_0002_105422061350#-18", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scooping water with a large spoon into the basin', and now you are performing subtask 'pick up the large spoon from above the bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001406/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.807988000230879, 0.5891989404971001 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.6670137190152684, 0.7450454339470987 ], [ 0.7227198903627572, -0.6911410565680817 ] ] }, { "task_id": "0001407", "id": "RH20T_cfg7_task_0035_user_0014_scene_0004_cfg_0007_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a block', and now you are performing subtask 'pick up the big square 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001407/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9915934426546986, -0.1293925982589538 ], [ -0.29222231814128774, -0.9563504152663563 ], [ 0.26311740576903186, 0.9647638211531168 ], [ -0.9558036069401534, 0.2940058927303889 ] ] }, { "task_id": "0001408", "id": "RH20T_cfg6_task_0023_user_0014_scene_0002_cfg_0006_104122064161#46", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001408/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20952908871623932, 0.9778024140091168 ], [ 0.9976025185085852, 0.06920415497156275 ], [ 0.344936536291822, -0.938626009617782 ], [ -0.9395741554269997, -0.342345449003839 ] ] }, { "task_id": "0001409", "id": "RH20T_cfg1_task_0044_user_0014_scene_0001_cfg_0001_750612070851#59", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001409/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, -0.9486832977505137 ], [ -0.9800562513909044, 0.19872026597609155 ], [ 0.2777515707179531, 0.9606529367902386 ], [ 0.9278900979316038, -0.37285381339135926 ] ] }, { "task_id": "0001410", "id": "RH20T_cfg4_task_0081_user_0015_scene_0006_cfg_0004_104122062823#121", "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 from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001410/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.906559831049169, 0.422077330270298 ], [ 0.210252024105256, -0.9776472197882234 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9846881036184193, -0.17432538137735776 ] ] }, { "task_id": "0001411", "id": "RH20T_cfg6_task_0001_user_0014_scene_0001_cfg_0006_104122064161#190", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the orange base', and now you are performing subtask 'press the red button on the orange base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001411/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7167980529839975, -0.6972808266676709 ], [ 0.7071067810865475, 0.7071067810865475 ], [ -0.61616533284892, -0.7876168374248862 ], [ -0.7844346496835837, 0.6202114803643942 ] ] }, { "task_id": "0001412", "id": "RH20T_cfg4_task_0074_user_0007_scene_0007_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the green button on the right horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001412/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.993077829823388, -0.11745817942259287 ], [ 0.0, 0.999999999875 ], [ 0.12266556243562549, -0.992448064027711 ], [ -0.9998697935440883, -0.01613678896503806 ] ] }, { "task_id": "0001413", "id": "RH20T_cfg4_task_0091_user_0007_scene_0002_cfg_0004_038522062288#64", "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 from the left side's light blue gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001413/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11043152606265141, -0.9938837345638627 ], [ -0.9864848942896245, 0.16385223019046313 ], [ 0.050535578722692806, 0.9987222613335314 ], [ 0.9933258731696234, -0.11534170837908228 ] ] }, { "task_id": "0001414", "id": "RH20T_cfg7_task_0025_user_0014_scene_0008_cfg_0007_104122064161#65", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once and has a weight pressing down on one end', and now you are performing subtask 'unfold a piece of paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001414/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9859896906206489, -0.16680626483977543 ], [ -0.17525345696992323, -0.9845233495555559 ], [ -0.9888727319381426, 0.14876397423164817 ], [ 0.07124704998537157, 0.9974586997952021 ] ] }, { "task_id": "0001415", "id": "RH20T_cfg3_task_0004_user_0016_scene_0006_cfg_0003_104122062823#173", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block to the left', and now you are performing subtask 'pick up the small block from the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001415/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9728838029756869, 0.23129441391344663 ], [ 0.2835772539629987, -0.9589493944076533 ], [ -0.1961161350997225, 0.9805806754986125 ], [ -0.9517194126665599, -0.3069693137002757 ] ] }, { "task_id": "0001416", "id": "RH20T_cfg4_task_0068_user_0007_scene_0004_cfg_0004_104122062823#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001416/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9872436767393356, 0.15921659064996463 ], [ -0.19611613511895326, 0.9805806755947664 ], [ 0.05407984231163742, -0.9985366145793295 ], [ -0.9873249885403065, -0.15871158434053756 ] ] }, { "task_id": "0001418", "id": "RH20T_cfg4_task_0101_user_0007_scene_0010_cfg_0004_104122062823#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cleaning cloth on the stains on the table to clean them'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001418/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.52409742563, 0.8516583166487499 ], [ 0.7960743632760705, 0.6051988170300723 ], [ 0.5209765624929873, -0.8535709820120355 ], [ -0.9031128572842873, -0.429403268510861 ] ] }, { "task_id": "0001419", "id": "RH20T_cfg1_task_0002_user_0005_scene_0006_cfg_0001_750612070853#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull up a napkin'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001419/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955833386178002, 0.09388192513276805 ], [ -0.05872202194802207, 0.9982743731163751 ], [ 0.07145947255506203, -0.9974435040553187 ], [ -0.9995739559289557, 0.029187439568043566 ] ] }, { "task_id": "0001420", "id": "RH20T_cfg2_task_0004_user_0006_scene_0004_cfg_0002_037522062165#333", "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 piece on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001420/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.8662047424379863, 0.4996892476108947 ], [ 0.42751842089731396, -0.9040066370295448 ], [ -0.8562993300984285, -0.5164798711208235 ] ] }, { "task_id": "0001421", "id": "RH20T_cfg7_task_0002_user_0014_scene_0006_cfg_0007_104122064161#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin out'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001421/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8062830753953663, 0.5915298828723621 ], [ 0.7404792048196978, -0.6720792715369134 ], [ -0.7567806450660353, -0.6536689186839433 ], [ -0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0001422", "id": "RH20T_cfg4_task_0014_user_0016_scene_0006_cfg_0004_038522062288#80", "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 wooden block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001422/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7499515740886089, -0.6614927335368226 ], [ 0.554700196148306, 0.8320502942224591 ], [ -0.6621098105382831, -0.7494068312932294 ], [ -0.7957140171582869, 0.6056725211678515 ] ] }, { "task_id": "0001424", "id": "RH20T_cfg3_task_0013_user_0010_scene_0009_cfg_0003_104122063550#35", "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 under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001424/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.993031596193024, -0.11784841518805116 ], [ -0.13156041148714148, -0.9913081549797389 ], [ 0.1643989872918438, 0.9863939237510627 ], [ -0.9780850709877613, 0.20820565292725784 ] ] }, { "task_id": "0001425", "id": "RH20T_cfg3_task_0016_user_0010_scene_0001_cfg_0003_104122062823#258", "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 pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001425/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06184891561455837, -0.998085523207958 ], [ 0.9922778765905907, 0.12403473457382384 ], [ -0.9999614126113006, 0.008784832861950465 ], [ -0.09841700828413959, 0.9951452619996739 ] ] }, { "task_id": "0001426", "id": "RH20T_cfg5_task_0025_user_0010_scene_0005_cfg_0005_104122063678#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded in half once with one end pressed down by a heavy object', and now you are performing subtask 'unfold the white paper on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001426/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.989187388504088, 0.14665711856047886 ], [ 0.10058769802608838, -0.9949281959045148 ], [ -0.9999766224491429, -0.006837730267016788 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0001427", "id": "RH20T_cfg4_task_0119_user_0007_scene_0002_cfg_0004_038522062288#74", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the handle of the water tap 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001427/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9719590761977147, 0.2351500673971516 ], [ 0.08729235167708448, 0.9961827369206336 ], [ 0.9956451944066089, -0.0932236389282569 ], [ -0.1520571842423804, -0.9883716975754727 ] ] }, { "task_id": "0001428", "id": "RH20T_cfg4_task_0095_user_0014_scene_0007_cfg_0004_104122062823#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'put the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001428/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14487981202353706, -0.9894492609871538 ], [ -0.998871110594954, -0.04750267801717387 ], [ 0.999999999952381, 0.0 ], [ 0.15298342778319002, 0.9882287542991782 ] ] }, { "task_id": "0001429", "id": "RH20T_cfg2_task_0011_user_0013_scene_0009_cfg_0002_105422061350#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the kettle, and put it down', and now you are performing subtask 'pick up the watering can 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001429/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7882319202677394, -0.6153782900550134 ], [ -0.7455025120407961, 0.6665028166038479 ], [ 0.6343839227878348, 0.7730181359504564 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0001430", "id": "RH20T_cfg1_task_0007_user_0004_scene_0010_cfg_0001_750612070853#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'pick up the wooden block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001430/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9610573193815517, 0.2763491068614955 ], [ 0.31123800258531786, -0.9503319976443504 ], [ -0.9390605424263428, -0.3437517965886766 ], [ -0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0001431", "id": "RH20T_cfg2_task_0041_user_0007_scene_0010_cfg_0002_037522062165#426", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001431/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.1407065730693625, 0.990051342252045 ], [ 0.9982774970479742, 0.05866889199253732 ], [ -0.1446048389686298, -0.9894894848086344 ] ] }, { "task_id": "0001432", "id": "RH20T_cfg4_task_0008_user_0010_scene_0007_cfg_0004_038522062288#84", "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 left side 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001432/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.274641844436736, -0.9615465965226999 ], [ 0.9578262851294083, -0.28734788553882246 ], [ -0.9348500953741422, 0.3550426723352522 ], [ 0.4221872882534643, 0.906508628550874 ] ] }, { "task_id": "0001433", "id": "RH20T_cfg3_task_0022_user_0010_scene_0008_cfg_0003_038522062288#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 base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001433/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1776230554564205, 0.9840985977890252 ], [ 0.9739638372753033, -0.22670342670539112 ], [ -0.2237527966642747, -0.9746459285222073 ], [ -0.9828721868739445, 0.1842885350388646 ] ] }, { "task_id": "0001435", "id": "RH20T_cfg1_task_0004_user_0009_scene_0004_cfg_0001_750612070853#85", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001435/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9946681550763358, -0.10312740313339859 ], [ 0.0, 0.9999999999 ], [ -0.013715987073305617, -0.9999059314248541 ], [ -0.9938094249889599, -0.11109827542816779 ] ] }, { "task_id": "0001436", "id": "RH20T_cfg4_task_0083_user_0007_scene_0002_cfg_0004_038522062288#96", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001436/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8217407568249926, 0.569861499465167 ], [ -0.44721359543329126, -0.8944271908665825 ], [ 0.311934848537223, 0.9501034945036566 ], [ 0.951194695208849, -0.308591399437095 ] ] }, { "task_id": "0001437", "id": "RH20T_cfg6_task_0130_user_0014_scene_0009_cfg_0006_104122064161#94", "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 with a 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001437/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9932460578350187, 0.11602701666075356 ], [ -0.03123089982190798, -0.9995121964720161 ], [ -0.9979726957939431, -0.06364352637755068 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001438", "id": "RH20T_cfg4_task_0092_user_0014_scene_0004_cfg_0004_038522062288#81", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001438/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8858426157591374, 0.4639858404143485 ], [ -0.37139067633686235, 0.9284766908421559 ], [ 0.4601132366779003, -0.8878602420616584 ], [ -0.9366323653172303, -0.35031387674519937 ] ] }, { "task_id": "0001439", "id": "RH20T_cfg4_task_0023_user_0014_scene_0004_cfg_0004_038522062288#121", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001439/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.46205579045274514, -0.8868508592255457 ], [ -0.897611955161477, -0.4407865446576049 ], [ 0.939793423408145, 0.3417430630575073 ], [ -0.44066215179920837, 0.8976730295445505 ] ] }, { "task_id": "0001440", "id": "RH20T_cfg6_task_0053_user_0014_scene_0010_cfg_0006_104122063633#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp above the green fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001440/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9895060998671915, 0.14449110119872308 ], [ -0.01028996350063409, -0.9999470569240932 ], [ -0.9921327553834535, -0.12519023801893064 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001442", "id": "RH20T_cfg4_task_0125_user_0007_scene_0005_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001442/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04993761694139846, 0.9987523388279693 ], [ 0.9801984471497261, -0.19801768659709523 ], [ 0.03397069616828126, -0.9994228293379346 ], [ -0.9887971252884766, 0.14926568601404908 ] ] }, { "task_id": "0001443", "id": "RH20T_cfg4_task_0200_user_0017_scene_0008_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001443/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999058398235462, -0.013722663253497441 ], [ -0.13810631574298268, -0.9904174097580776 ], [ -0.9847491593363932, 0.17398015170204587 ], [ 0.06651901051934915, 0.9977851577902372 ] ] }, { "task_id": "0001444", "id": "RH20T_cfg7_task_0020_user_0014_scene_0009_cfg_0007_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the blue flag on the table', and now you are performing subtask 'pick up the blue flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001444/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.02850055061558746, 0.9995937767986596 ], [ 0.9998998383020818, 0.014153210359164453 ], [ -0.9999999989999999, 0.0 ], [ -0.13494134639582936, -0.9908535880910362 ] ] }, { "task_id": "0001445", "id": "RH20T_cfg7_task_0025_user_0014_scene_0009_cfg_0007_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end being weighed down by a heavy object', and now you are performing subtask 'pull the folded paper to unfold'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001445/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997700815587123, -0.021442574940662082 ], [ 0.14743609465001617, -0.9890715838574838 ], [ -0.1351132047272283, 0.9908301679996742 ], [ -0.9961783723265613, -0.0873421462342397 ] ] }, { "task_id": "0001446", "id": "RH20T_cfg6_task_0044_user_0014_scene_0008_cfg_0006_104122064161#206", "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 purple 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001446/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4728189013051652, 0.8811596260431911 ], [ -0.8516583166766469, -0.5240974256471673 ], [ 0.8699347318829034, 0.493166870606513 ], [ 0.5364067724720638, -0.8439595810500072 ] ] }, { "task_id": "0001447", "id": "RH20T_cfg6_task_0031_user_0020_scene_0002_cfg_0006_104122064161#213", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001447/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9947675013281915, -0.10216466268366355 ], [ -0.13351514931161573, -0.991046772309106 ], [ 0.0, 0.9999999989999999 ], [ -0.9992550000869829, 0.03859332586295108 ] ] }, { "task_id": "0001448", "id": "RH20T_cfg4_task_0017_user_0016_scene_0003_cfg_0004_104122062823#115", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001448/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9009187888037624, 0.4339877140891915 ], [ 0.5257165835171851, -0.8506597873503947 ], [ -0.41905817743247864, 0.907959384437037 ], [ -0.8559776206080268, -0.517012875099084 ] ] }, { "task_id": "0001450", "id": "RH20T_cfg5_task_0074_user_0007_scene_0008_cfg_0005_104122063678#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the control panel horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001450/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04831826111525588, 0.9988319906985348 ], [ -0.9999999996666666, 0.0 ], [ 0.9937447488637143, -0.11167530660711525 ], [ 0.05551246293599375, -0.9984579943386601 ] ] }, { "task_id": "0001451", "id": "RH20T_cfg6_task_0024_user_0014_scene_0007_cfg_0006_104122064161#46", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001451/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9772449520659405, 0.21211389313677165 ], [ -0.25912856608124574, 0.9658428372119159 ], [ 0.14027288522194817, -0.9901128812774381 ], [ -0.9664123986760206, -0.2569962561697352 ] ] }, { "task_id": "0001452", "id": "RH20T_cfg1_task_0019_user_0001_scene_0002_cfg_0001_035622060973#208", "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 chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001452/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975243665942728, 0.07032167553958801 ], [ 0.0, 0.9999999995 ], [ -0.1324383289144011, -0.9911912474564941 ], [ -0.9992275425351015, -0.03929781468812181 ] ] }, { "task_id": "0001453", "id": "RH20T_cfg2_task_0072_user_0007_scene_0016_cfg_0002_037522062165#223", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001453/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7392293267400544, -0.6734537864526756 ], [ -0.789750610051751, -0.613428051137937 ], [ -0.6285300555583565, 0.7777852976624137 ], [ 0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0001454", "id": "RH20T_cfg7_task_0033_user_0014_scene_0004_cfg_0007_104122064161#47", "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 'pick up the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001454/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9909786716409291, -0.134019671514221 ], [ -0.17322090941111035, -0.9848829963720502 ], [ 0.28734788553882246, 0.9578262851294083 ], [ -0.9160288490444717, 0.4011123878893053 ] ] }, { "task_id": "0001456", "id": "RH20T_cfg6_task_0002_user_0020_scene_0010_cfg_0006_104122064161#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin from the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001456/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9587335744536963, -0.28430605553740623 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.14671208773241545, -0.9891792372028418 ], [ -0.9800061529468364, 0.19896718369204022 ] ] }, { "task_id": "0001457", "id": "RH20T_cfg2_task_0200_user_0007_scene_0010_cfg_0002_037522062165#321", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large straw 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001457/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.943867279551637, -0.33032492880766967 ], [ -0.30901062660586576, 0.9510585852851813 ], [ 0.9946633305079624, 0.1031739256925318 ], [ 0.21693045779512676, -0.9761870600780704 ] ] }, { "task_id": "0001458", "id": "RH20T_cfg7_task_0033_user_0014_scene_0008_cfg_0007_104122064161#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping a small block to sweep another small block into the designated position', and now you are performing subtask 'pick up the block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001458/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.999999999875 ], [ 0.9953085535876389, 0.09675165711904957 ], [ -0.04056011012528134, -0.999177100151232 ], [ -0.9985844200665503, 0.05318981105767607 ] ] }, { "task_id": "0001459", "id": "RH20T_cfg4_task_0101_user_0007_scene_0008_cfg_0004_104122062823#102", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001459/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9516605056498172, 0.3071518874861985 ], [ 0.2800830568579434, -0.9599757711844139 ], [ -0.19611613512536352, 0.9805806756268175 ], [ -0.9725064633309104, -0.2328758870720726 ] ] }, { "task_id": "0001460", "id": "RH20T_cfg4_task_0107_user_0007_scene_0014_cfg_0004_104122062823#218", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001460/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35216614272492125, -0.9359375021433058 ], [ 0.9701425000276848, -0.2425356250069212 ], [ -0.9756125550817959, 0.21949975482166212 ], [ 0.3691396856962664, 0.9293739249860961 ] ] }, { "task_id": "0001461", "id": "RH20T_cfg7_task_0039_user_0014_scene_0004_cfg_0007_104122064161#94", "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 with water 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001461/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9314659881265381, 0.36382841142969014 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.3178812203404322, -0.9481305446798334 ], [ -0.8223715598670995, -0.5689508041313884 ] ] }, { "task_id": "0001462", "id": "RH20T_cfg5_task_0074_user_0007_scene_0002_cfg_0005_104122063678#240", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the yellow button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001462/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3271496301679787, 0.9449725495912328 ], [ 0.9334807452519169, -0.3586275201987791 ], [ -0.9486832977505137, 0.31622776591683793 ], [ -0.3882444790738019, -0.9215564141541809 ] ] }, { "task_id": "0001463", "id": "RH20T_cfg6_task_0031_user_0020_scene_0004_cfg_0006_104122064161#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001463/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8689689277183111, -0.4948666513921588 ], [ -0.310974240888931, -0.9504183402605155 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9417226032870065, 0.3363904553615385 ] ] }, { "task_id": "0001464", "id": "RH20T_cfg2_task_0006_user_0003_scene_0010_cfg_0002_036422060215#217", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001464/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7705837315733691, 0.6373387738357534 ], [ 0.6646317272642462, -0.747171109662134 ], [ -0.8909184632092538, -0.45416328772024434 ] ] }, { "task_id": "0001465", "id": "RH20T_cfg6_task_0033_user_0014_scene_0008_cfg_0006_104122064161#70", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the position of the marked black dot', and now you are performing subtask 'push the small square to the position of the marked black dot'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001465/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6358673405961012, 0.7717983707959235 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.8056981563951316, -0.5923263296372078 ], [ -0.6781550494482808, -0.7349188587237367 ] ] }, { "task_id": "0001466", "id": "RH20T_cfg4_task_0072_user_0007_scene_0016_cfg_0004_104122062823#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001466/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7486993198159364, -0.6629097438619788 ], [ -0.7084665492659318, -0.7057443932269125 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6378786519108179, 0.7701368874664021 ] ] }, { "task_id": "0001467", "id": "RH20T_cfg7_task_0002_user_0020_scene_0010_cfg_0007_104122064161#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up a tissue from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001467/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.3039140964487448, -0.9526994394769754 ], [ -0.9466007324052201, -0.32240820927808395 ], [ -0.36420934275921835, 0.9313171074595904 ] ] }, { "task_id": "0001468", "id": "RH20T_cfg4_task_0086_user_0007_scene_0007_cfg_0004_104122062823#61", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the pencil from the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001468/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ 0.15270160496854118, -0.9882723409263419 ], [ -0.9998531991957399, -0.017134178067362307 ], [ 0.15580319951926067, 0.9877881164599833 ] ] }, { "task_id": "0001469", "id": "RH20T_cfg4_task_0088_user_0007_scene_0001_cfg_0004_104122062823#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block from the desk', and now you are performing subtask 'pick up the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001469/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3939192985274435, 0.9191450298973682 ], [ 0.8550198299759145, 0.5185953049806353 ], [ 0.33088891344202664, -0.9436697128556978 ], [ -0.8656413604297608, -0.5006645934288873 ] ] }, { "task_id": "0001470", "id": "RH20T_cfg4_task_0009_user_0010_scene_0002_cfg_0004_104122062823#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a Hanoi block and place it aside', and now you are performing subtask 'pick up the Hanoi block from the surface of the wood'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001470/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6399846034965082, 0.768387732389981 ], [ 0.7721290367664156, 0.6354657745167455 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.6407885089214856, -0.7677174524746582 ] ] }, { "task_id": "0001471", "id": "RH20T_cfg1_task_0031_user_0001_scene_0003_cfg_0001_750612070853#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'press the paper box down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001471/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994873040962784, 0.03201763499001031 ], [ 0.106637567361017, -0.9942979579720179 ], [ 0.0, 0.9999999989999999 ], [ -0.9999642743451023, -0.008452812163594446 ] ] }, { "task_id": "0001472", "id": "RH20T_cfg7_task_0035_user_0020_scene_0004_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up small piece on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001472/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.7043000458144473, -0.7099024196787665 ], [ -0.5961922406832113, -0.8028417105190361 ], [ -0.6745664160229254, 0.7382141629459473 ] ] }, { "task_id": "0001473", "id": "RH20T_cfg3_task_0047_user_0010_scene_0004_cfg_0003_104122062823#126", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001473/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9081420593907202, 0.4186621549239691 ], [ -0.52409742563, 0.8516583166487499 ], [ 0.4618444719045306, -0.8869609257296656 ], [ -0.7674725072343217, -0.6410818595463953 ] ] }, { "task_id": "0001474", "id": "RH20T_cfg4_task_0109_user_0015_scene_0004_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001474/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5629456718533614, -0.8264939023015038 ], [ -0.9207679763851723, -0.390110668482105 ], [ -0.4970163016643127, 0.8677412032858236 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0001475", "id": "RH20T_cfg4_task_0009_user_0016_scene_0009_cfg_0004_104122062823#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a purple Hanoi block from the stacked blocks and place it on the table', and now you are performing subtask 'pick up a purple Hanoi block from the stacked Hanoi blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001475/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8492460504078175, 0.5279972972153577 ], [ 0.48171325952485694, -0.8763288969319327 ], [ -0.9197527028496453, -0.3924983638192294 ], [ -0.5299989399470002, 0.8479983039152004 ] ] }, { "task_id": "0001476", "id": "RH20T_cfg7_task_0010_user_0020_scene_0010_cfg_0007_104122064161#142", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001476/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9909231757981355, 0.134429385426467 ], [ 0.07657347797748648, 0.9970639410140312 ], [ 0.0, -0.9999999998 ], [ 0.9995584499810334, 0.029713718574325573 ] ] }, { "task_id": "0001477", "id": "RH20T_cfg3_task_0076_user_0010_scene_0006_cfg_0003_104122062823#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'pick up the green Lego block from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001477/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9736403512652261, -0.22808872481586445 ], [ -0.09477979829442446, -0.995498262095554 ], [ -0.9983573525434299, 0.05729394926581342 ] ] }, { "task_id": "0001478", "id": "RH20T_cfg5_task_0071_user_0007_scene_0001_cfg_0005_104122063678#225", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001478/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10676127967907556, 0.9942846821515889 ], [ 0.9877813189238058, -0.15584628960981647 ], [ -0.00431971760129036, -0.999990669976398 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0001479", "id": "RH20T_cfg4_task_0102_user_0014_scene_0012_cfg_0004_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001479/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9579196498014175, -0.28703648639908075 ], [ 0.3656523724108388, 0.9307514934094079 ], [ -0.40265624543918216, -0.9153512702830652 ], [ -0.8666298723154757, 0.498951565194922 ] ] }, { "task_id": "0001481", "id": "RH20T_cfg7_task_0052_user_0020_scene_0002_cfg_0007_104122064161#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001481/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9502659944847475, -0.31143946398283223 ], [ -0.24703998127371526, -0.9690052877318485 ], [ -0.9601366439809216, 0.2795310803561084 ] ] }, { "task_id": "0001482", "id": "RH20T_cfg4_task_0201_user_0017_scene_0009_cfg_0004_104122062823#257", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pharmaceutical experiment will insert a medium pipette tip into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001482/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.992396073784336, 0.12308546923757788 ], [ 0.01672678570611967, 0.9998600975336208 ], [ 0.9912466891386952, 0.13202273013225843 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0001483", "id": "RH20T_cfg4_task_0081_user_0007_scene_0008_cfg_0004_104122062823#114", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001483/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.18089703874025875, 0.9835020393344415 ], [ 0.9777637831314826, -0.20970928543202597 ], [ -0.9701424999100378, 0.24253562497750944 ], [ -0.24295157180544738, -0.9700384187016835 ] ] }, { "task_id": "0001484", "id": "RH20T_cfg7_task_0015_user_0014_scene_0009_cfg_0007_104122064161#84", "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 tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001484/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.6841132930267966, -0.7293757620760594 ], [ -0.6753776891490397, -0.7374720177740326 ], [ -0.7781552550767948, 0.6280719695993194 ] ] }, { "task_id": "0001485", "id": "RH20T_cfg3_task_0015_user_0010_scene_0007_cfg_0003_104422070011#136", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001485/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.23063001093605626, 0.9730415191838603 ], [ 0.9947085520950547, 0.10273702540447638 ], [ 0.3041959827160469, -0.9526094709267898 ], [ -0.9805806756524587, -0.19611613513049173 ] ] }, { "task_id": "0001486", "id": "RH20T_cfg4_task_0060_user_0016_scene_0009_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob', and now you are performing subtask 'twist the knob counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001486/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.865291910071987, 0.501268301774581 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5286337728379762, -0.8488500069005637 ], [ -0.8721429213661419, -0.48925118774606124 ] ] }, { "task_id": "0001487", "id": "RH20T_cfg4_task_0088_user_0015_scene_0007_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block from the left side of the box to the right side of the box', and now you are performing subtask 'pick up the wooden block on the left side of the box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001487/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9578224536737202, -0.28736065708174824 ], [ 0.22903933371243254, 0.9734171682778383 ], [ -0.07425625994767714, -0.9972391929013736 ], [ -0.9419968585251169, 0.33562168959828975 ] ] }, { "task_id": "0001488", "id": "RH20T_cfg7_task_0052_user_0014_scene_0004_cfg_0007_104122064161#119", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001488/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.988756434232702, 0.14953499176925977 ], [ 0.2161911761061334, -0.9763510512996065 ], [ -0.16439898727833027, 0.9863939236699816 ], [ -0.992120923783154, -0.12528396781576334 ] ] }, { "task_id": "0001489", "id": "RH20T_cfg2_task_0021_user_0003_scene_0006_cfg_0002_037522062165#197", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001489/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7096872163375435, 0.7045168947350153 ], [ 0.7406098644081481, 0.6719352861260854 ], [ 0.7113693797638918, -0.7028183303915285 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0001490", "id": "RH20T_cfg4_task_0047_user_0014_scene_0017_cfg_0004_104122062823#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack', and now you are performing subtask 'take the cup off the cup rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001490/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7393331557384861, 0.673339798931989 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.4277594862316193, -0.9038925942493726 ], [ -0.7693157770994492, -0.6388687150783567 ] ] }, { "task_id": "0001492", "id": "RH20T_cfg4_task_0029_user_0016_scene_0002_cfg_0004_104122062823#82", "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 it outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001492/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7412198263933635, -0.6712623696896708 ], [ 0.6877446478845057, 0.7259526838780894 ], [ -0.759466977739178, -0.6505458552044727 ], [ -0.7357378133746443, 0.6772664689549432 ] ] }, { "task_id": "0001493", "id": "RH20T_cfg4_task_0011_user_0010_scene_0004_cfg_0004_104122062823#57", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001493/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999996666666, 0.0 ], [ 0.10440201148412934, 0.9945351778585149 ], [ 0.9900457848200006, -0.14074567119506373 ], [ -0.06598585668973905, -0.9978205583755634 ] ] }, { "task_id": "0001494", "id": "RH20T_cfg2_task_0078_user_0014_scene_0005_cfg_0002_105422061350#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001494/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9753144731064515, 0.2208204667803351 ], [ 0.09349274963034927, 0.9956199605103129 ], [ 0.9962193031001366, -0.08687404750947295 ], [ -0.16439898729860053, -0.9863939237916033 ] ] }, { "task_id": "0001495", "id": "RH20T_cfg5_task_0092_user_0007_scene_0009_cfg_0005_104122063678#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'twist the pointer clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001495/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999166667 ], [ 0.9972474098554613, 0.07414582615746852 ], [ -0.13487545414156732, -0.9908625595258436 ], [ -0.9983167701923302, -0.057996778813605716 ] ] }, { "task_id": "0001496", "id": "RH20T_cfg6_task_0045_user_0014_scene_0001_cfg_0006_104122064161#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the brush from the desk and place it on the pen rack', and now you are performing subtask 'pick up the brush from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001496/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7070078818847767, -0.7072056666577282 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6297361908137099, -0.7768090691923201 ], [ -0.7455638151083643, 0.6664342410178674 ] ] }, { "task_id": "0001497", "id": "RH20T_cfg2_task_0096_user_0007_scene_0001_cfg_0002_105422061350#151", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001497/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08214972618148207, -0.9966199990409121 ], [ -0.9999161115390013, 0.012952601465474238 ], [ 0.9999999995, 0.0 ], [ -0.049913621214851246, 0.9987535383753192 ] ] }, { "task_id": "0001498", "id": "RH20T_cfg2_task_0096_user_0007_scene_0001_cfg_0002_105422061350#322", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001498/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9996220180194604, -0.02749220054309374 ], [ 0.0421382222024698, -0.9991117906568892 ], [ -0.9988096046535868, 0.04877882380445058 ] ] }, { "task_id": "0001499", "id": "RH20T_cfg4_task_0104_user_0015_scene_0001_cfg_0004_104122062823#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back to the middle of the table', and now you are performing subtask 'pull the plate back to the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001499/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9929125258077434, -0.11884744883289476 ], [ -0.12567614891929174, -0.9920713208196354 ], [ -0.9975848525647677, 0.06945834675062994 ] ] }, { "task_id": "0001500", "id": "RH20T_cfg2_task_0015_user_0006_scene_0005_cfg_0002_037522062165#456", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001500/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999995 ], [ -0.9970559293461292, 0.07667772659466783 ], [ 0.026847617715287604, 0.9996395377449883 ], [ 0.989570488136835, 0.14404946722784553 ] ] }, { "task_id": "0001501", "id": "RH20T_cfg6_task_0025_user_0014_scene_0004_cfg_0006_104122064161#59", "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 'fold a piece of paper 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001501/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9504533033433488, 0.3108673642628257 ], [ 0.4349436334257684, -0.9004576812612523 ], [ -0.3226739277811974, 0.9465101881581791 ], [ -0.977394601991737, -0.21142325320885136 ] ] }, { "task_id": "0001502", "id": "RH20T_cfg6_task_0016_user_0014_scene_0006_cfg_0006_104122064161#49", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001502/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7153635160140323, -0.6987524883362072 ], [ -0.6606310293964239, -0.7507107585472725 ], [ -0.7538979767936376, 0.6569915072407404 ], [ 0.59999999997, 0.79999999996 ] ] }, { "task_id": "0001503", "id": "RH20T_cfg7_task_0020_user_0014_scene_0007_cfg_0007_104122064161#52", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the red flag', and now you are performing subtask 'pick up the red flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001503/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9717112694048543, 0.2361719901080709 ], [ 0.3995964460984403, -0.9166911586055013 ], [ -0.9496514382514922, -0.3133083877378203 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0001504", "id": "RH20T_cfg6_task_0068_user_0014_scene_0005_cfg_0006_104122064161#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press a button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001504/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9797460100378899, -0.2002442404036505 ], [ -0.12325972120101017, -0.9923744460280349 ], [ 0.21693045779512676, 0.9761870600780704 ], [ -0.9860412981095875, 0.1665009261906963 ] ] }, { "task_id": "0001505", "id": "RH20T_cfg6_task_0017_user_0014_scene_0003_cfg_0006_104122064161#85", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001505/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4228854653055764, -0.9061831399405209 ], [ -0.8345653572227577, 0.5509089439495884 ], [ 0.3761418141027808, 0.9265621056807088 ], [ 0.8391338660332864, -0.543924953349293 ] ] }, { "task_id": "0001506", "id": "RH20T_cfg4_task_0103_user_0007_scene_0002_cfg_0004_104122062823#110", "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 'slide the plate to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001506/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.902374627176728, -0.43095247096131284 ], [ 0.41380294428406067, 0.9103664774249335 ], [ -0.3133994669280202, -0.9496213846208567 ], [ -0.8486082618216705, 0.5290217556660626 ] ] }, { "task_id": "0001507", "id": "RH20T_cfg2_task_0064_user_0007_scene_0010_cfg_0002_037522062165#300", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001507/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9957406313497473, 0.09219867178656396 ], [ 0.3355648192752415, -0.9420171187747994 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9593469381872668, -0.2822294318293481 ] ] }, { "task_id": "0001508", "id": "RH20T_cfg6_task_0052_user_0014_scene_0005_cfg_0006_104122063633#92", "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 green surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001508/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.925454473461849, 0.37885883591313 ], [ 0.15280734885073938, -0.9882559962566422 ], [ -0.9783813080698054, -0.20680912943972418 ], [ -0.28216632397562663, 0.9593655015171305 ] ] }, { "task_id": "0001509", "id": "RH20T_cfg2_task_0006_user_0013_scene_0004_cfg_0002_037522062165#266", "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 'push the small block from the left position to the right position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001509/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9943862359670527, -0.10581121736034 ], [ 0.09861295696479672, -0.9951258637572733 ], [ 0.0, 0.9999999989999999 ], [ -0.9975582689508934, 0.06983910113752223 ] ] }, { "task_id": "0001510", "id": "RH20T_cfg2_task_0083_user_0014_scene_0001_cfg_0002_105422061350#58", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001510/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.326716038959676, 0.9451225475495225 ], [ 0.8635269714657198, 0.5043026566965935 ], [ 0.32707785360410785, -0.94499739559521 ], [ -0.8944271908999158, -0.4472135954499579 ] ] }, { "task_id": "0001511", "id": "RH20T_cfg6_task_0210_user_0014_scene_0005_cfg_0006_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001511/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9733863219224225, -0.2291703913998016 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.0031374375219115837, -0.9999950782307861 ], [ -0.988782304272377, 0.14936383349997626 ] ] }, { "task_id": "0001512", "id": "RH20T_cfg4_task_0046_user_0014_scene_0002_cfg_0004_104122062823#219", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001512/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6599314279517219, -0.7513258350420284 ], [ -0.8166776482788334, -0.5770941160692546 ], [ -0.5328111301368105, 0.8462341872096251 ], [ 0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0001513", "id": "RH20T_cfg4_task_0073_user_0007_scene_0005_cfg_0004_104122062823#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'move the block from the table to 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001513/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.885133456791103, -0.46533725798503667 ], [ -0.43357192855499554, -0.901118961496817 ], [ 0.3939192985274435, 0.9191450298973682 ], [ -0.9123912915266277, 0.4093191067448138 ] ] }, { "task_id": "0001514", "id": "RH20T_cfg4_task_0073_user_0007_scene_0005_cfg_0004_104122062823#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'place the block in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001514/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.328520624927782, 0.9444967966673732 ], [ 0.9201757261495677, 0.39150559766766535 ], [ 0.3806766703667762, -0.9247082094576996 ], [ -0.9637398839570325, -0.2668434673558371 ] ] }, { "task_id": "0001515", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#115", "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 first block from the current position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001515/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4323736096433541, 0.9016945501021821 ], [ -0.9566738803890661, 0.2911616157705853 ], [ 0.9793488296961718, -0.2021778172123215 ], [ -0.17152435589662335, -0.9851798796840344 ] ] }, { "task_id": "0001516", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#239", "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 'place the first block on the top of the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001516/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5865098121354623, 0.8099421215204002 ], [ 0.8713041362013082, -0.49074341792681475 ], [ -0.5757068980382217, -0.8176561426120448 ], [ -0.7525166320299906, 0.6585732446115921 ] ] }, { "task_id": "0001517", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#528", "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 'place the second block on the top of the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001517/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6740928457307638, 0.7386466241272619 ], [ -0.7525766946360813, 0.6585046078065712 ], [ 0.6728818707379015, -0.7397499496669547 ], [ -0.5739167424084244, -0.8189136540462019 ] ] }, { "task_id": "0001518", "id": "RH20T_cfg4_task_0200_user_0017_scene_0004_cfg_0004_104122062823#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'push the pipette forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001518/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ 0.0766010124578191, -0.9970618260120268 ], [ -0.9899445873440889, -0.14145569620252646 ], [ 0.06162304321197186, 0.9980994943117122 ] ] }, { "task_id": "0001519", "id": "RH20T_cfg4_task_0092_user_0014_scene_0009_cfg_0004_104122062823#124", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001519/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9586587971824317, 0.2845580970289428 ], [ -0.17134117474390828, 0.9852117547774726 ], [ 0.24616048034199686, -0.9692290843334188 ], [ -0.9710465871369744, -0.23889019571684886 ] ] }, { "task_id": "0001520", "id": "RH20T_cfg4_task_0094_user_0007_scene_0001_cfg_0004_104122062823#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001520/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6592544860256764, -0.7519198911154176 ], [ 0.7893522173070956, 0.6139406134610743 ], [ -0.8184202372355525, -0.5746201486924228 ], [ -0.6729751335899393, 0.7396651063620641 ] ] }, { "task_id": "0001521", "id": "RH20T_cfg5_task_0096_user_0007_scene_0005_cfg_0005_104122063678#165", "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 outside the work area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001521/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.11750792487959448, -0.993071944820964 ], [ -0.9995513996845526, -0.029949948057579324 ], [ 0.12912328861657255, 0.9916285475604468 ] ] }, { "task_id": "0001522", "id": "RH20T_cfg5_task_0096_user_0007_scene_0005_cfg_0005_104122063678#415", "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 outside the work area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001522/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996600340173605, -0.026073288791592177 ], [ 0.0, 0.9999999996666666 ], [ -0.04164325874621678, -0.9991325432599 ], [ -0.9995689084046601, -0.029359791394294777 ] ] }, { "task_id": "0001523", "id": "RH20T_cfg5_task_0001_user_0010_scene_0010_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 red 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001523/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6642699246688666, 0.7474927873768539 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6611774130838014, -0.7502295838127234 ], [ -0.7146372980589651, -0.6994951981414754 ] ] }, { "task_id": "0001524", "id": "RH20T_cfg5_task_0006_user_0010_scene_0003_cfg_0005_104122063678#284", "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 'push the small block from the right position to the left position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001524/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9927974318514498, 0.11980508882833844 ], [ 0.03367583080343541, 0.999432808356669 ], [ 0.9886549287719144, -0.15020463313427113 ], [ 0.0, -0.9999999998 ] ] }, { "task_id": "0001525", "id": "RH20T_cfg4_task_0017_user_0016_scene_0008_cfg_0004_104122062823#96", "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 on the wooden surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001525/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5724805601593486, 0.8199182936364078 ], [ 0.9017355405339966, -0.43228811565651565 ], [ -0.5457885262258423, -0.8379229586544475 ], [ -0.841178475326012, 0.5407575912810078 ] ] }, { "task_id": "0001526", "id": "RH20T_cfg2_task_0035_user_0007_scene_0001_cfg_0002_037522062165#239", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001526/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975643236745155, 0.06975256362174999 ], [ 0.0, 0.9999999989999999 ], [ -0.07770141251860718, -0.9969766749992766 ], [ -0.9997049517434922, 0.024290110323788503 ] ] }, { "task_id": "0001527", "id": "RH20T_cfg7_task_0017_user_0014_scene_0008_cfg_0007_104122064161#108", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001527/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3162277659835046, 0.9486832979505138 ], [ 0.9687168967390902, 0.2481684387108617 ], [ 0.3487366029293118, -0.9372207753658279 ], [ -0.9255104605037919, -0.37872204517041136 ] ] }, { "task_id": "0001528", "id": "RH20T_cfg4_task_0067_user_0015_scene_0004_cfg_0004_104122062823#92", "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 red button on the button panel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001528/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6689992586400788, -0.7432630704797764 ], [ 0.8056510126303342, 0.592390450463481 ], [ -0.8242535153542807, -0.5662209307559289 ], [ -0.6152285324847195, 0.7883488141785325 ] ] }, { "task_id": "0001529", "id": "RH20T_cfg4_task_0094_user_0015_scene_0010_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid on the black 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001529/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3363363969755318, 0.941741911531489 ], [ 0.9635167583841293, 0.26764800823645113 ], [ 0.20672239433099726, -0.9783996380222449 ], [ -0.9748103391491449, -0.22303542922129885 ] ] }, { "task_id": "0001530", "id": "RH20T_cfg5_task_0042_user_0010_scene_0003_cfg_0005_104122063678#359", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001530/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9965212234966447, -0.08333937317229057 ], [ 0.1419247642277408, 0.9898774476160673 ], [ 0.9891063496235197, 0.14720268045941207 ] ] }, { "task_id": "0001531", "id": "RH20T_cfg4_task_0012_user_0010_scene_0010_cfg_0004_104122062823#112", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001531/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991330730507575, 0.041630544710448227 ], [ -0.004627452320031158, -0.999989293285196 ], [ -0.9998962868395008, 0.014401929196424043 ], [ 0.02006673095756031, 0.9997986428819939 ] ] }, { "task_id": "0001532", "id": "RH20T_cfg6_task_0062_user_0014_scene_0005_cfg_0006_104122063633#163", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001532/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9730884724083876, -0.2304318225981622 ], [ -0.3487579598466375, -0.9372128282538663 ], [ -0.9722618894710691, 0.23389488725097585 ], [ 0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0001533", "id": "RH20T_cfg3_task_0021_user_0011_scene_0003_cfg_0003_104122062823#150", "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 light'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001533/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9996636949705403, -0.025932546304724018 ], [ -0.055558994996129527, 0.9984554061524331 ], [ 0.0, -0.9999999998333333 ], [ 0.991432692807935, 0.1306185883846821 ] ] }, { "task_id": "0001534", "id": "RH20T_cfg4_task_0038_user_0014_scene_0006_cfg_0004_104122062823#150", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001534/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12752058571227218, -0.9918359240416729 ], [ 0.9999999995, 0.0 ], [ -0.997071323427502, -0.07647729073737915 ], [ -0.09372188393141158, 0.995598417270913 ] ] }, { "task_id": "0001535", "id": "RH20T_cfg1_task_0020_user_0004_scene_0004_cfg_0001_039422060546#225", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001535/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09622282057356325, 0.9953598187594614 ], [ -0.9999999989999999, 0.0 ], [ 0.9988415557075389, 0.04812012668046102 ], [ 0.11333238891552558, -0.9935571295213478 ] ] }, { "task_id": "0001536", "id": "RH20T_cfg2_task_0001_user_0007_scene_0001_cfg_0002_037522062165#328", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001536/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3983542713817306, -0.9172316362140648 ], [ -0.819076398064801, 0.573684455195704 ], [ 0.42830096020077285, 0.9036361477337524 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0001537", "id": "RH20T_cfg3_task_0008_user_0016_scene_0003_cfg_0003_104122062823#165", "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 'push the block to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001537/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995087777715426, 0.03134012057470798 ], [ 0.08839096126281078, -0.9960858587325876 ], [ -0.07669649887885469, 0.9970544854251109 ], [ -0.9951551898644748, -0.09831657075895736 ] ] }, { "task_id": "0001538", "id": "RH20T_cfg4_task_0084_user_0007_scene_0006_cfg_0004_104122062823#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Assemble: Attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001538/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6782801026947272, 0.7348034445859544 ], [ 0.7235624246413248, 0.6902589497045056 ], [ 0.6673856057433915, -0.7447123291892827 ], [ -0.8130054210600705, -0.582256116607578 ] ] }, { "task_id": "0001539", "id": "RH20T_cfg4_task_0084_user_0007_scene_0006_cfg_0004_104122062823#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Assemble: Attach the bubble ring to the ball', and now you are performing subtask 'place the bubble ring onto the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001539/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7040172622341266, -0.710182859886357 ], [ -0.7577776305596282, -0.6525128831091657 ], [ -0.6657622215635433, 0.7461639661219078 ], [ 0.8106792283633698, 0.5854905538179893 ] ] }, { "task_id": "0001540", "id": "RH20T_cfg2_task_0045_user_0007_scene_0010_cfg_0002_037522062165#289", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001540/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14978017835698704, 0.9887193222403158 ], [ -0.9999999989999999, 0.0 ], [ 0.9997246666862568, 0.023464671722669455 ], [ -0.028006063255021956, -0.9996077532817339 ] ] }, { "task_id": "0001541", "id": "RH20T_cfg2_task_0008_user_0013_scene_0005_cfg_0002_105422061350#340", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001541/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990428530831696, -0.1380265384430414 ], [ 0.0, 0.9999999989999999 ], [ -0.10516827539904433, -0.9944544403086503 ], [ -0.9934347564581603, 0.11440010778367297 ] ] }, { "task_id": "0001542", "id": "RH20T_cfg3_task_0017_user_0010_scene_0001_cfg_0003_104122062823#208", "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 surface of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001542/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9965950103476174, -0.08245232167884758 ], [ -0.08120923414746938, -0.9966970754894295 ], [ 0.0, 0.9999999998333333 ], [ -0.9945847259652548, -0.10392893185547099 ] ] }, { "task_id": "0001543", "id": "RH20T_cfg5_task_0015_user_0010_scene_0010_cfg_0005_104122063678#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick on the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001543/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2882743983608798, 0.9575478427993417 ], [ 0.8897048195392087, -0.45653623524174297 ], [ -0.9486832977505137, 0.31622776591683793 ], [ -0.44703928304741536, -0.8945143259962094 ] ] }, { "task_id": "0001544", "id": "RH20T_cfg3_task_0076_user_0010_scene_0003_cfg_0003_104122062823#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) one on top of the other every time', and now you are performing subtask 'pick up the small Lego brick on the edge mat'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001544/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.425585424009133, 0.9049182542478446 ], [ -0.9284766907128456, 0.3713906762851382 ], [ 0.9294321788183131, -0.3689929877071424 ], [ -0.23445582541491372, -0.9721267746179052 ] ] }, { "task_id": "0001545", "id": "RH20T_cfg5_task_0011_user_0010_scene_0010_cfg_0005_104122063678#425", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001545/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.39523315033017586, -0.9185808385112791 ], [ -0.9030899523433489, 0.42945143843802386 ], [ 0.9486832977505137, -0.31622776591683793 ], [ 0.40492918334794537, 0.9143480499641076 ] ] }, { "task_id": "0001546", "id": "RH20T_cfg5_task_0024_user_0010_scene_0005_cfg_0005_104122063678#273", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the far right of the power strip', and now you are performing subtask 'press the button on the far right of the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001546/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9890701107327056, -0.14744597673451004 ], [ 0.0935848340055807, -0.9956113091182461 ], [ -0.9930119124645193, 0.11801415891136964 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001547", "id": "RH20T_cfg7_task_0013_user_0020_scene_0002_cfg_0007_104122064161#105", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001547/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9523112633421973, -0.30512826436039686 ], [ 0.35897907928309586, 0.9333456061360492 ], [ -0.3998284812949857, -0.9165899767864283 ], [ -0.9684700244919424, 0.24913010990359302 ] ] }, { "task_id": "0001548", "id": "RH20T_cfg4_task_0062_user_0016_scene_0004_cfg_0004_104122062823#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 tissue paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001548/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9284766907128456, 0.3713906762851382 ], [ 0.2235118102391357, -0.9747012212383981 ], [ -0.9429209920671715, -0.3330165201894062 ], [ -0.5065491901716398, 0.862211063450508 ] ] }, { "task_id": "0001549", "id": "RH20T_cfg7_task_0014_user_0014_scene_0001_cfg_0007_104122064161#84", "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 block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001549/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9542423239834228, -0.29903442463822866 ], [ -0.20838634671481096, -0.9780465891269469 ], [ -0.9969824924759332, 0.07762673313025549 ], [ 0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0001550", "id": "RH20T_cfg4_task_0108_user_0007_scene_0006_cfg_0004_104122062823#149", "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 pencil sharpener clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001550/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6825335860605692, -0.7308542288988273 ], [ -0.808599346420581, 0.5883596663336208 ], [ 0.7592566022829437, -0.6507913733853803 ], [ 0.6626728733328539, 0.7489089817519746 ] ] }, { "task_id": "0001551", "id": "RH20T_cfg4_task_0043_user_0007_scene_0005_cfg_0004_104122062823#138", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001551/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996808635080552, -0.07982822200730143 ], [ -0.0031990115599399484, -0.9999948831494286 ], [ -0.9948685871109632, 0.10117556216713625 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0001552", "id": "RH20T_cfg2_task_0016_user_0003_scene_0005_cfg_0002_037522062165#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001552/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.23971404820452208, 0.970843537905774 ], [ 0.9756883293687768, -0.21916268827874233 ], [ -0.3866695099790612, -0.9222183526977505 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0001553", "id": "RH20T_cfg3_task_0010_user_0011_scene_0007_cfg_0003_104122062823#169", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001553/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9316647941576136, -0.3633190214222916 ], [ 0.21693045779512676, 0.9761870600780704 ], [ -0.12328670321198895, -0.9923710943045041 ], [ -0.9890742712319611, 0.14741806533449378 ] ] }, { "task_id": "0001554", "id": "RH20T_cfg3_task_0020_user_0011_scene_0010_cfg_0003_104122062823#134", "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 desk lamp's button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001554/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989682385431019, 0.04541429711106768 ], [ 0.14263710190846154, -0.9897750538173586 ], [ -0.9988059123520857, -0.04885436982008639 ], [ -0.08304547984684342, 0.996545758162121 ] ] }, { "task_id": "0001556", "id": "RH20T_cfg4_task_0120_user_0007_scene_0006_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing the light bulb by rotating it', and now you are performing subtask 'pick up the light bulb 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001556/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9274287074405361, 0.3739999901272414 ], [ -0.41905817743247864, 0.907959384437037 ], [ 0.33675618111749683, -0.9415918831846203 ], [ -0.9081910994559407, -0.41855576315350107 ] ] }, { "task_id": "0001557", "id": "RH20T_cfg4_task_0128_user_0007_scene_0007_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001557/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8297114614282568, 0.5581925212456598 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.674411761722772, -0.7383554534571997 ], [ -0.902621362452371, -0.4304354493354671 ] ] }, { "task_id": "0001558", "id": "RH20T_cfg7_task_0022_user_0020_scene_0006_cfg_0007_104122064161#104", "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 cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001558/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9980159989717368, 0.06296082747587091 ], [ 0.08193529481751914, -0.9966376510363063 ], [ -0.9956742512156714, -0.09291278419093847 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001559", "id": "RH20T_cfg4_task_0009_user_0010_scene_0009_cfg_0004_104122062823#89", "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 Hanoi block from the column'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001559/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7735795456772837, 0.6336992082287363 ], [ -0.5407575912810078, 0.841178475326012 ], [ 0.6435217138639358, -0.7654278566825373 ], [ -0.8802190950433587, -0.4745675344153356 ] ] }, { "task_id": "0001560", "id": "RH20T_cfg2_task_0028_user_0006_scene_0009_cfg_0002_037522062165#434", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close it', and now you are performing subtask 'push the drawer to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001560/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9701424999100378, 0.24253562497750944 ], [ 0.3068326570067576, 0.9517634793341114 ], [ 0.9685344775054655, -0.2488794203690108 ], [ -0.32163518097473165, -0.9468636704190058 ] ] }, { "task_id": "0001561", "id": "RH20T_cfg6_task_0086_user_0007_scene_0010_cfg_0006_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the wooden stick from the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001561/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7609690381385082, 0.6487881957885435 ], [ 0.7177855443947126, -0.6962642546174448 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.790726044732093, -0.6121701742018636 ] ] }, { "task_id": "0001562", "id": "RH20T_cfg5_task_0067_user_0007_scene_0006_cfg_0005_104122063678#200", "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 button on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001562/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9228997310599243, 0.3850403698438901 ], [ 0.17691412615085458, -0.9842262910369137 ], [ -0.9487344458366058, -0.3160742812743681 ], [ -0.2425356250069212, 0.9701425000276848 ] ] }, { "task_id": "0001563", "id": "RH20T_cfg1_task_0004_user_0004_scene_0003_cfg_0001_039422060546#245", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001563/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.998818472048857, -0.04859691239149654 ], [ 0.07948631615663894, 0.9968359571884668 ], [ 0.9985910349775589, 0.05306547712447261 ] ] }, { "task_id": "0001564", "id": "RH20T_cfg5_task_0100_user_0007_scene_0008_cfg_0005_104122063678#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'pick up the glass rod from the side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001564/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4727450470362474, -0.8811992513062504 ], [ -0.7401596711947885, 0.6724311571728533 ], [ 0.4674083446602795, 0.8840415371134648 ], [ 0.8320502941070744, -0.554700196071383 ] ] }, { "task_id": "0001565", "id": "RH20T_cfg2_task_0026_user_0003_scene_0002_cfg_0002_037522062165#97", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001565/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.683609631939868, 0.7298478410730816 ], [ -0.7556890827517465, -0.6549305383848469 ], [ 0.7907798742957316, 0.6121006374844148 ], [ 0.5295953114370581, -0.8482504383163534 ] ] }, { "task_id": "0001566", "id": "RH20T_cfg2_task_0073_user_0014_scene_0001_cfg_0002_105422061350#59", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'pick up the cube on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001566/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.30636237129610805, 0.9519149633522028 ], [ 0.9859539239957777, -0.16701754326216187 ], [ -0.18789043188584023, -0.9821899946577304 ], [ -0.9838699100119074, 0.17888543818398317 ] ] }, { "task_id": "0001567", "id": "RH20T_cfg2_task_0073_user_0014_scene_0001_cfg_0002_105422061350#226", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'place the cube 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001567/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7979785727835685, 0.6026858197919536 ], [ 0.6836073610390327, 0.7298499680984097 ], [ 0.7657850491799211, -0.6430966167322806 ], [ -0.6357072528322338, -0.7719302355819981 ] ] }, { "task_id": "0001568", "id": "RH20T_cfg3_task_0033_user_0010_scene_0010_cfg_0003_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp one block to sweep the other block into the designated position', and now you are performing subtask 'pick up the block on the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001568/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3389439320561079, 0.9408065746593954 ], [ 0.9445198973966723, 0.32845420292908356 ], [ 0.33813553805411856, -0.9410974221114686 ], [ -0.9486832980005138, -0.3162277660001713 ] ] }, { "task_id": "0001569", "id": "RH20T_cfg4_task_0059_user_0016_scene_0010_cfg_0004_104122062823#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001569/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5900557976720615, 0.8073624685564641 ], [ 0.758974605167734, -0.6511202260032185 ], [ -0.8027561434853345, -0.5963074493049311 ], [ -0.7071067811032142, 0.7071067811032142 ] ] }, { "task_id": "0001570", "id": "RH20T_cfg5_task_0013_user_0007_scene_0003_cfg_0005_104122063678#251", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the block from the desk and place it on the scale', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001570/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9954394294382699, -0.09539571436711373 ], [ -0.11026121142199209, -0.9939026437512655 ], [ 0.0, 0.99999999975 ], [ -0.9966872263881704, 0.08133002369762359 ] ] }, { "task_id": "0001571", "id": "RH20T_cfg4_task_0020_user_0016_scene_0006_cfg_0004_104122062823#201", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the desk lamp by pressing the button on the desk lamp', and now you are performing subtask 'press the button on the desk lamp to turn on the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001571/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.864071945667664, 0.5033683270827611 ], [ 0.6823336608942178, -0.7310408847736867 ], [ -0.5734623443163485, 0.8192319204519264 ], [ -0.7698283126558945, -0.6382510235270905 ] ] }, { "task_id": "0001572", "id": "RH20T_cfg3_task_0042_user_0010_scene_0001_cfg_0003_038522062288#236", "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 'twist the lid clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001572/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2809698580641558, -0.959716592989518 ], [ -0.9557787582149346, 0.29408666298408975 ], [ 0.9701424999100378, -0.24253562497750944 ], [ 0.14847409540276185, 0.9889162972639958 ] ] }, { "task_id": "0001573", "id": "RH20T_cfg2_task_0017_user_0003_scene_0006_cfg_0002_037522062165#235", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001573/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3220826876525743, -0.946711541238668 ], [ -0.9421827329609846, 0.3350995340345462 ], [ 0.48693267764330733, 0.8734395041690747 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0001574", "id": "RH20T_cfg4_task_0089_user_0014_scene_0006_cfg_0004_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the upper left of the table', and now you are performing subtask 'push the block to the upper left 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001574/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.01758037716875848, 0.9998454532269496 ], [ 0.9999439881636465, -0.010583975405362156 ], [ -0.9999999999285715, 0.0 ], [ -0.009677541877408893, -0.9999531714951511 ] ] }, { "task_id": "0001575", "id": "RH20T_cfg4_task_0011_user_0016_scene_0008_cfg_0004_104122062823#85", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001575/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09076594363108342, -0.9958722525890351 ], [ 0.99999999975, 0.0 ], [ -0.9911540023377439, -0.1327167798353766 ], [ -0.11802117437357146, 0.9930110786891972 ] ] }, { "task_id": "0001576", "id": "RH20T_cfg2_task_0054_user_0007_scene_0021_cfg_0002_105422061350#242", "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 at the current position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001576/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.32982659982457324, -0.9440415319508781 ], [ 0.9701424999100378, 0.24253562497750944 ], [ -0.9729675273582972, -0.2309419639352739 ], [ -0.24604084516411037, 0.9692594608828589 ] ] }, { "task_id": "0001577", "id": "RH20T_cfg3_task_0015_user_0011_scene_0004_cfg_0003_104122062823#166", "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 drum'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001577/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.19611613511895326, 0.9805806755947664 ], [ 0.9512411178370843, 0.30844827076197795 ], [ 0.1336970813506564, -0.9910222451783391 ], [ -0.9452665633420932, -0.3262991330473136 ] ] }, { "task_id": "0001578", "id": "RH20T_cfg4_task_0060_user_0016_scene_0008_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to adjust the volume of the speaker', and now you are performing subtask 'twist the knob 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001578/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5904402966839953, 0.8070813193549432 ], [ 0.6270771959838121, -0.7789571170976486 ], [ -0.7407593694916579, -0.6717704641544772 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001579", "id": "RH20T_cfg1_task_0006_user_0004_scene_0003_cfg_0001_039422060546#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block on the table', and now you are performing subtask 'push the square block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001579/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ -0.042854997946851735, -0.9990813025730065 ], [ -0.9881925783961676, -0.1532169311882149 ], [ 0.05806146106125143, 0.9983130104027658 ] ] }, { "task_id": "0001580", "id": "RH20T_cfg4_task_0088_user_0015_scene_0006_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the small square block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001580/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3303504247125159, 0.943858356321474 ], [ 0.9443439927109021, -0.3289596075976985 ], [ -0.3407803593994362, -0.940142939476541 ], [ -0.9424637811447893, 0.33430827275176245 ] ] }, { "task_id": "0001581", "id": "RH20T_cfg6_task_0051_user_0014_scene_0010_cfg_0006_104122064161#104", "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 yellow plate from the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001581/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9778823305020062, 0.2091557976532447 ], [ -0.03523912891043229, -0.9993789090198142 ], [ -0.09950371901604842, 0.9950371901604842 ], [ -0.9677275447002133, -0.25199880799023017 ] ] }, { "task_id": "0001582", "id": "RH20T_cfg4_task_0015_user_0016_scene_0008_cfg_0004_104122062823#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001582/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.994950751280058, -0.10036434888568763 ], [ 0.0, 0.9999999999333333 ], [ 0.02096279655200572, -0.9997802564367428 ], [ -0.9956340052350044, -0.09334306412210315 ] ] }, { "task_id": "0001583", "id": "RH20T_cfg4_task_0073_user_0015_scene_0002_cfg_0004_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the building blocks in the drawer', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001583/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9978013858038036, 0.06627514230847975 ], [ 0.08090912767029282, -0.9967214821903019 ], [ -0.98461126146032, -0.17475887332412496 ], [ -0.1414213562273095, 0.9899494935911665 ] ] }, { "task_id": "0001584", "id": "RH20T_cfg4_task_0217_user_0014_scene_0007_cfg_0004_038522062288#147", "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 lamp holder from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001584/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, -0.7071067810198809 ], [ -0.7926479055451928, 0.6096796682150547 ], [ 0.7470758261125353, 0.6647388284418724 ], [ 0.7504243471811791, -0.6609563519308225 ] ] }, { "task_id": "0001585", "id": "RH20T_cfg6_task_0084_user_0007_scene_0010_cfg_0006_104122064161#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the outside of the ball', and now you are performing subtask 'pick up the bubble ring 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001585/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3159922627454889, -0.9487617666648387 ], [ 0.8944271908999158, 0.4472135954499579 ], [ -0.9018443517265446, -0.43206106658541754 ], [ -0.4791382734008448, 0.8777394345490337 ] ] }, { "task_id": "0001586", "id": "RH20T_cfg2_task_0064_user_0007_scene_0007_cfg_0002_105422061350#184", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001586/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7404742618343693, 0.6720847175474578 ], [ 0.7128985805938491, -0.7012671486582523 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.655978114859719, -0.7547799101891155 ] ] }, { "task_id": "0001587", "id": "RH20T_cfg6_task_0205_user_0007_scene_0002_cfg_0006_104122064161#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001587/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07640243300527892, -0.9970770623331349 ], [ -0.9927407484584401, -0.12027388058168023 ], [ 0.996545758162121, 0.08304547984684342 ], [ -0.0831687921943032, 0.9965354745341186 ] ] }, { "task_id": "0001588", "id": "RH20T_cfg4_task_0077_user_0015_scene_0008_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) is done randomly one at a time', and now you are performing subtask 'pick up the small Lego block from the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001588/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9509625170521102, 0.30930614472059076 ], [ -0.1961161350997225, 0.9805806754986125 ], [ 0.11889783633320168, -0.9929064933392687 ], [ -0.9668732310457238, -0.25525703729222154 ] ] }, { "task_id": "0001589", "id": "RH20T_cfg4_task_0029_user_0016_scene_0003_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the upper handle of the drawer to the open position', and now you are performing subtask 'pull the top handle of the drawer to the open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001589/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8619342151140676, 0.5070201265376869 ], [ 0.6214808629125274, -0.7834293439956793 ], [ -0.925044841400196, -0.37985792264856905 ], [ -0.47176867214607515, 0.881722359919226 ] ] }, { "task_id": "0001591", "id": "RH20T_cfg4_task_0016_user_0010_scene_0006_cfg_0004_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001591/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278785101, 0.9615239475747854 ], [ 0.9831972460951224, -0.18254636471583766 ], [ -0.25497110732870215, -0.9669486720749843 ], [ -0.9742703190532829, 0.22538266439949303 ] ] }, { "task_id": "0001594", "id": "RH20T_cfg7_task_0063_user_0020_scene_0007_cfg_0007_104122064161#138", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001594/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9350686960041735, -0.35446654814390377 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.39773179044269613, -0.9175017290835191 ], [ -0.9415704136915243, 0.3368162051635458 ] ] }, { "task_id": "0001595", "id": "RH20T_cfg2_task_0014_user_0003_scene_0003_cfg_0002_037522062165#319", "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 bottle on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001595/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8048276039287288, -0.5935086587020794 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6518825190966329, -0.7583199728981349 ], [ -0.7547444520342566, 0.6560189114069119 ] ] }, { "task_id": "0001596", "id": "RH20T_cfg6_task_0043_user_0014_scene_0010_cfg_0006_104122064161#119", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001596/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.9466332024650032, 0.32231286041802976 ], [ 0.40277350230920234, -0.9152996808901329 ], [ -0.8699827564741093, -0.4930821467440398 ] ] }, { "task_id": "0001597", "id": "RH20T_cfg5_task_0029_user_0010_scene_0010_cfg_0005_104122063678#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer', and now you are performing subtask 'pull the drawer open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001597/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5896019469664182, 0.8076939668794172 ], [ 0.7942094875702065, -0.6076440486448215 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7414991146364555, -0.6709538456506176 ] ] }, { "task_id": "0001598", "id": "RH20T_cfg4_task_0094_user_0007_scene_0006_cfg_0004_104122062823#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001598/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07611817667138333, -0.9970988031184392 ], [ -0.9978021112257524, 0.06626421985831663 ], [ 0.9999999996666666, 0.0 ], [ 0.06109039467149453, 0.9981322375711953 ] ] }, { "task_id": "0001599", "id": "RH20T_cfg4_task_0020_user_0014_scene_0010_cfg_0004_038522062288#479", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001599/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9505804950629726, -0.3104782156703335 ], [ -0.23957294333121648, 0.9708783676772378 ], [ 0.9590042856220521, 0.28339156684442374 ], [ 0.31622776596683794, -0.9486832979005138 ] ] }, { "task_id": "0001600", "id": "RH20T_cfg2_task_0004_user_0006_scene_0007_cfg_0002_037522062165#352", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001600/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3352866380559342, -0.9421161660544569 ], [ -0.8584227836567802, 0.5129428082144685 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.47755282891444323, 0.8786030364139499 ] ] }, { "task_id": "0001601", "id": "RH20T_cfg4_task_0015_user_0010_scene_0005_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum and place the drumsticks on the drumhead', 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001601/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9937614989758746, -0.11152615457022959 ], [ 0.1842885350388646, 0.9828721868739445 ], [ -0.150821593319917, -0.9885609981121254 ], [ -0.9988180252114004, 0.048606095428436885 ] ] }, { "task_id": "0001602", "id": "RH20T_cfg2_task_0007_user_0013_scene_0006_cfg_0002_105422061350#318", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move a small block held in hand from above the table to below the table', and now you are performing subtask 'pick up the small wooden block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001602/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.02377494999175821, 0.9997173359269557 ], [ 0.9969501922226152, 0.07804046531954217 ], [ -0.08871219956396013, -0.9960573003841315 ] ] }, { "task_id": "0001603", "id": "RH20T_cfg3_task_0089_user_0010_scene_0005_cfg_0003_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block', and now you are performing subtask 'push the block forward on the grid cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001603/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.965867565968786, 0.2590363777725688 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.4048477385154698, -0.9143841143736641 ], [ -0.9853900234094002, -0.1703129524294081 ] ] }, { "task_id": "0001604", "id": "RH20T_cfg2_task_0003_user_0006_scene_0008_cfg_0002_037522062165#354", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button on the left', and now you are performing subtask 'press the green button on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001604/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999 ], [ 0.9989133458267381, 0.04660608897163058 ], [ 0.060994275199674125, -0.9981381158902141 ], [ -0.9949037051633044, 0.100829645701693 ] ] }, { "task_id": "0001605", "id": "RH20T_cfg4_task_0218_user_0010_scene_0009_cfg_0004_104122062823#164", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001605/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.8251752698343101, -0.5648767777611977 ], [ -0.6041060367604384, -0.7969039442427148 ], [ -0.8982621636849792, 0.4394599928229869 ] ] }, { "task_id": "0001606", "id": "RH20T_cfg2_task_0083_user_0014_scene_0006_cfg_0002_105422061350#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001606/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9960611599598044, -0.08866885371723772 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.21971362693878083, -0.9755644120904607 ], [ -0.9782273286287719, 0.2075362462892125 ] ] }, { "task_id": "0001607", "id": "RH20T_cfg2_task_0028_user_0003_scene_0004_cfg_0002_037522062165#270", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001607/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6264120439914739, 0.779492111020005 ], [ 0.8055196797863802, -0.5925690216986098 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.6119745064701616, -0.7908774895207236 ] ] }, { "task_id": "0001608", "id": "RH20T_cfg4_task_0107_user_0007_scene_0003_cfg_0004_104122062823#169", "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 ground'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001608/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16446298931716272, -0.9863832546960958 ], [ -0.927368909650265, -0.3741482398917291 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.31626416625244563, 0.9486711638627189 ] ] }, { "task_id": "0001610", "id": "RH20T_cfg3_task_0020_user_0010_scene_0009_cfg_0003_104122062823#286", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001610/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.49612167850760625, -0.8682530046678765 ], [ -0.8839902519691989, 0.4675053309037579 ], [ 0.8944271907999158, -0.4472135953999579 ], [ 0.5094177147520573, 0.8605193733419322 ] ] }, { "task_id": "0001611", "id": "RH20T_cfg2_task_0033_user_0003_scene_0001_cfg_0002_037522062165#167", "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 'pick up the left 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001611/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6591356104699875, -0.7520241000196449 ], [ -0.6936552960682951, -0.7203071082784106 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6874577044859492, 0.7262244174791354 ] ] }, { "task_id": "0001612", "id": "RH20T_cfg5_task_0123_user_0007_scene_0010_cfg_0005_104122063678#231", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001612/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8338358148522954, 0.5520125305367701 ], [ 0.5119209872669688, -0.8590325388456551 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9153844405660203, -0.40258083159737496 ] ] }, { "task_id": "0001616", "id": "RH20T_cfg6_task_0104_user_0014_scene_0009_cfg_0006_104122064161#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'pull the plate back'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001616/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8732276164506854, 0.487312558701143 ], [ 0.24716046344975381, -0.968974563808206 ], [ -0.9778246781944422, -0.20942516256155952 ], [ -0.35112344154729586, 0.9363291774594555 ] ] }, { "task_id": "0001617", "id": "RH20T_cfg7_task_0016_user_0020_scene_0007_cfg_0007_104122064161#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001617/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44280331910701715, -0.8966187710436411 ], [ -0.9481083312834847, -0.3179474675962146 ], [ 0.9284766907128456, 0.3713906762851382 ], [ -0.29417267115443185, 0.955752289845997 ] ] }, { "task_id": "0001619", "id": "RH20T_cfg3_task_0020_user_0010_scene_0003_cfg_0003_104122062823#279", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001619/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09053574603432181, 0.9958932063775399 ], [ 0.9851393119713592, 0.17175720074744158 ], [ 0.17398701867939154, -0.9847479460913118 ], [ -0.999738666071998, -0.02286043657898966 ] ] }, { "task_id": "0001620", "id": "RH20T_cfg6_task_0010_user_0014_scene_0001_cfg_0006_104122064161#106", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001620/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9046736073851208, 0.4261052265588776 ], [ 0.48744237144648705, -0.873155160620737 ], [ -0.8801142421770224, -0.4747619621633199 ], [ -0.4299335803738635, 0.9028605187851132 ] ] }, { "task_id": "0001621", "id": "RH20T_cfg4_task_0128_user_0010_scene_0003_cfg_0004_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001621/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991914145383773, 0.040205933800828764 ], [ -0.007977564976638065, -0.9999681787222249 ], [ 0.0, 0.9999999996666666 ], [ -0.9998476959504818, 0.01745236094380696 ] ] }, { "task_id": "0001622", "id": "RH20T_cfg4_task_0035_user_0016_scene_0003_cfg_0004_104122062823#94", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001622/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9555905104895828, 0.2946977710507134 ], [ 0.11709600712178683, -0.9931205994823259 ], [ -0.9648546719661849, -0.2627840596098359 ], [ -0.18711210788124247, 0.982338566376523 ] ] }, { "task_id": "0001623", "id": "RH20T_cfg4_task_0026_user_0016_scene_0010_cfg_0004_104122062823#82", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001623/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9701424999100378, -0.24253562497750944 ], [ -0.13321904074698776, -0.9910866194144952 ], [ -0.9920094616878252, 0.12616349678822034 ], [ 0.27435153974968374, 0.9616294674337813 ] ] }, { "task_id": "0001624", "id": "RH20T_cfg5_task_0004_user_0014_scene_0003_cfg_0005_104122063678#408", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the small block behind the large block on the table', and now you are performing subtask 'pick up the small block on the desktop in front of the big block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001624/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09020536014590909, -0.9959231862954828 ], [ -0.9993023251576509, -0.037347863854745464 ], [ -0.10716792151702025, 0.994240934883352 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0001625", "id": "RH20T_cfg6_task_0129_user_0014_scene_0007_cfg_0006_104122064161#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the bulb holder with a bulb 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001625/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.01645212034265649, -0.9998646547089415 ], [ -0.9944266532394022, 0.10543069442568347 ], [ 0.99999999975, 0.0 ], [ 0.017625528745899805, 0.9998446583026923 ] ] }, { "task_id": "0001626", "id": "RH20T_cfg5_task_0089_user_0007_scene_0001_cfg_0005_104122063678#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the block to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001626/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9881977589120242, 0.15318351504405717 ], [ 0.13994587844418957, -0.9901591544325005 ], [ 0.0, 0.9999999999333333 ], [ -0.9994868409574111, -0.032032089425681164 ] ] }, { "task_id": "0001627", "id": "RH20T_cfg6_task_0005_user_0014_scene_0004_cfg_0006_104122064161#84", "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 'transfer the mechanical arm from the position to the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001627/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8954780509080307, 0.44510567323047523 ], [ 0.40534033953464055, 0.914165854287909 ], [ 0.8451314742310182, -0.5345585012551067 ], [ -0.4472135952999579, -0.8944271905999158 ] ] }, { "task_id": "0001628", "id": "RH20T_cfg6_task_0002_user_0020_scene_0007_cfg_0006_104122064161#131", "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 tissue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001628/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8479983039152004, -0.5299989399470002 ], [ -0.4220717142293252, -0.9065624457518184 ], [ -0.9107096916788341, 0.41304704027779093 ], [ 0.4835485896256439, 0.8753175203724936 ] ] }, { "task_id": "0001629", "id": "RH20T_cfg3_task_0071_user_0010_scene_0002_cfg_0003_104122062823#123", "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 the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001629/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9882998048318199, -0.15252375477081223 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.3562011479527024, -0.9344093012150388 ], [ -0.970991664155495, 0.23911333743758903 ] ] }, { "task_id": "0001630", "id": "RH20T_cfg3_task_0012_user_0010_scene_0008_cfg_0003_104122062823#225", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001630/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8458496199311367, -0.5334214285743979 ], [ -0.5168705416642426, 0.856063574251184 ], [ 0.48564293115504714, -0.8741572760790849 ], [ 0.9248987408676153, 0.38021351783109975 ] ] }, { "task_id": "0001631", "id": "RH20T_cfg6_task_0019_user_0014_scene_0008_cfg_0006_104122064161#50", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black stone of Go on the upper right corner of the board', and now you are performing subtask 'pick up the black stone from the left 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001631/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999146179239501, -0.013067396909903287 ], [ -0.19567968225875368, 0.9806678652587293 ], [ 0.06237828615323501, -0.9980525784517602 ], [ 0.9884265143425502, 0.1517004474107984 ] ] }, { "task_id": "0001633", "id": "RH20T_cfg7_task_0014_user_0014_scene_0003_cfg_0007_104122064161#97", "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 weight'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001633/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6380930840110219, 0.7699592301786524 ], [ 0.7679488781514909, -0.6405111400638295 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.6447561074515217, -0.7643883580379557 ] ] }, { "task_id": "0001634", "id": "RH20T_cfg4_task_0005_user_0010_scene_0001_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block a little to the side', and now you are performing subtask 'push the small square a little to the side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001634/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067811602317, 0.7071067811602317 ], [ 0.807123069234921, -0.5903832239391639 ], [ -0.7256818652127895, -0.6880303994020082 ], [ -0.7597137904985036, 0.6502576078189288 ] ] }, { "task_id": "0001635", "id": "RH20T_cfg7_task_0008_user_0014_scene_0003_cfg_0007_104122064161#79", "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 cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001635/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7688135471361398, 0.639473009391285 ], [ 0.5933887441270679, -0.8049160194351341 ], [ -0.7642910533339539, -0.644871449045215 ] ] }, { "task_id": "0001636", "id": "RH20T_cfg7_task_0031_user_0020_scene_0005_cfg_0007_104122064161#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001636/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38194028573319483, -0.9241870038764046 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.9598870158988124, -0.28038708370549625 ], [ -0.3468641725497572, 0.9379153724091381 ] ] }, { "task_id": "0001637", "id": "RH20T_cfg5_task_0084_user_0007_scene_0008_cfg_0005_104122063678#328", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001637/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999944480635492, -0.003332242799924628 ], [ -0.14734654478249434, -0.9890849284771559 ], [ 0.0, 0.9999999989999999 ], [ -0.9905824311760619, 0.13691766520548967 ] ] }, { "task_id": "0001638", "id": "RH20T_cfg6_task_0065_user_0007_scene_0002_cfg_0006_104122063633#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'pick up the first Lego block from one side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001638/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8201868585430194, 0.5720957236978206 ], [ 0.5618310416810882, -0.8272520054998619 ], [ -0.913470265761874, -0.40690548481057787 ], [ -0.44721359543329126, 0.8944271908665825 ] ] }, { "task_id": "0001639", "id": "RH20T_cfg6_task_0065_user_0007_scene_0002_cfg_0006_104122063633#264", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'place the first Lego block on the grid'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001639/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06082682704570876, 0.9981483342227003 ], [ 0.997005133709924, 0.07733539523437095 ], [ 0.06890762318018055, -0.99762304477576 ], [ -0.9999999996666666, 0.0 ] ] }, { "task_id": "0001640", "id": "RH20T_cfg4_task_0083_user_0007_scene_0007_cfg_0004_104122062823#118", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001640/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06167498870240008, -0.9980962858204406 ], [ -0.9960330579302528, -0.08898397333289632 ], [ 0.9999999995, 0.0 ], [ -0.033730648483755676, 0.9994309597730427 ] ] }, { "task_id": "0001642", "id": "RH20T_cfg6_task_0084_user_0007_scene_0008_cfg_0006_104122064161#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001642/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9860836078006375, 0.16625016820105337 ], [ -0.17888543818398317, 0.9838699100119074 ], [ 0.08812804080333093, -0.9961091548741867 ], [ -0.9994941709665071, -0.03180255027469901 ] ] }, { "task_id": "0001643", "id": "RH20T_cfg4_task_0069_user_0007_scene_0009_cfg_0004_104122062823#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the puzzle piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001643/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.934406644642779, -0.356208116762411 ], [ -0.44613846964865833, -0.8949639467037502 ], [ -0.9806015851093874, 0.19601155904935036 ], [ 0.34174306307210583, 0.939793423448291 ] ] }, { "task_id": "0001644", "id": "RH20T_cfg7_task_0013_user_0020_scene_0006_cfg_0007_104122064161#115", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001644/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9898846675251871, -0.14187439867202867 ], [ 0.0, 0.9999999989999999 ], [ 0.07817877952805555, -0.9969393554432003 ], [ -0.988566971138395, -0.15078243788405754 ] ] }, { "task_id": "0001645", "id": "RH20T_cfg6_task_0067_user_0014_scene_0003_cfg_0006_104122064161#97", "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 button on the table from top to bottom while avoiding obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001645/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999988, 0.79999999984 ], [ 0.8061622318140576, -0.5916945630953337 ], [ -0.6392556393653754, -0.768994296168421 ], [ -0.6975918003693553, 0.7164954152382565 ] ] }, { "task_id": "0001646", "id": "RH20T_cfg6_task_0002_user_0014_scene_0004_cfg_0006_104122063633#88", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001646/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9658538987285438, 0.25908733336632234 ], [ 0.39143896210530393, -0.9202040746192784 ], [ -0.328520624927782, 0.9444967966673732 ], [ -0.9550516324652412, -0.2964395036520569 ] ] }, { "task_id": "0001647", "id": "RH20T_cfg2_task_0042_user_0007_scene_0010_cfg_0002_037522062165#920", "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 left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001647/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998713307849746, -0.016041255383663418 ], [ -0.13019850086355683, -0.9914879476689984 ], [ -0.987712585550288, 0.15628131156848252 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001648", "id": "RH20T_cfg5_task_0081_user_0007_scene_0009_cfg_0005_104122063678#248", "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 to unfold it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001648/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999451055586709, 0.010477875226325433 ], [ 0.09234351711175647, -0.9957272090524747 ], [ 0.0, 0.9999999996666666 ], [ -0.9955808364534378, 0.09390845588483156 ] ] }, { "task_id": "0001649", "id": "RH20T_cfg4_task_0217_user_0010_scene_0008_cfg_0004_104122062823#128", "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 on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001649/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9470050900094104, -0.3212185540971576 ], [ -0.5016007781281928, -0.8650992193853787 ], [ -0.8563811885851557, 0.5163441292756956 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0001650", "id": "RH20T_cfg2_task_0002_user_0006_scene_0009_cfg_0002_037522062165#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull out a napkin from the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001650/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9601918598088788, -0.2793413545409389 ], [ -0.29538214509322136, -0.9553791856431284 ], [ -0.9845419209733991, 0.17514909604679443 ] ] }, { "task_id": "0001651", "id": "RH20T_cfg4_task_0046_user_0014_scene_0011_cfg_0004_104122062823#82", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001651/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12805981296120056, -0.991766446450142 ], [ -0.9944307344603177, -0.10539219307288922 ], [ -0.1403739916115012, 0.9900985519023114 ], [ 0.9999999999090909, 0.0 ] ] }, { "task_id": "0001652", "id": "RH20T_cfg2_task_0073_user_0007_scene_0006_cfg_0002_105422061350#176", "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 cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001652/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.847476471710037, 0.5308329585640917 ], [ 0.5751838454140212, -0.8180241707765972 ], [ -0.9292547153401236, -0.36943967574983877 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0001653", "id": "RH20T_cfg4_task_0083_user_0007_scene_0001_cfg_0004_104122062823#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swatting a fly with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001653/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6293568986497027, 0.7771163967656506 ], [ 0.8356599929972988, -0.5492470993130092 ], [ -0.8574929255654853, 0.5144957553392911 ], [ -0.6004303478093829, -0.7996770582113155 ] ] }, { "task_id": "0001654", "id": "RH20T_cfg4_task_0040_user_0014_scene_0001_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack the cups', and now you are performing subtask 'pick up the red cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001654/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6869538932545253, 0.7267010035375281 ], [ 0.6140122007480775, 0.7892965332069454 ], [ 0.838981628380705, -0.5441597442292664 ], [ -0.6585046078065712, -0.7525766946360813 ] ] }, { "task_id": "0001655", "id": "RH20T_cfg4_task_0021_user_0016_scene_0007_cfg_0004_104122062823#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001655/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9709540705349681, 0.23926594599227047 ], [ -0.3363363969755318, 0.941741911531489 ], [ 0.34258974226574995, -0.9394851081812245 ], [ -0.9621500056100039, -0.27252039685988577 ] ] }, { "task_id": "0001656", "id": "RH20T_cfg1_task_0022_user_0001_scene_0008_cfg_0001_039422060546#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001656/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08613505313853465, -0.9962834700128381 ], [ -0.9999750747418723, 0.007060445806529305 ], [ -0.07730753048466096, 0.9970072947227434 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0001657", "id": "RH20T_cfg2_task_0005_user_0013_scene_0004_cfg_0002_105422061350#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'gently push the small block', and now you are performing subtask 'gently push the small block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001657/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.9132023883396663, -0.40750631643046875 ], [ -0.3371791215266625, -0.9414405132596049 ], [ -0.8772747985218025, 0.4799884664015698 ] ] }, { "task_id": "0001659", "id": "RH20T_cfg4_task_0020_user_0014_scene_0004_cfg_0004_038522062288#107", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001659/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07553929787968908, -0.9971428255149026 ], [ 0.9999999999545455, 0.0 ], [ -0.999993867362254, 0.0035021761638481656 ], [ 0.034756405560125866, 0.9993958136156766 ] ] }, { "task_id": "0001660", "id": "RH20T_cfg5_task_0001_user_0020_scene_0002_cfg_0005_104122063678#232", "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 red button 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001660/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.79999999984, 0.59999999988 ], [ 0.5819466697778455, 0.8132269508166065 ], [ 0.8816946284801103, -0.4718204977629952 ], [ -0.6394089949835089, -0.7688667876389115 ] ] }, { "task_id": "0001661", "id": "RH20T_cfg7_task_0042_user_0020_scene_0001_cfg_0007_104122064161#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (requires rotation)', and now you are performing subtask 'pick up the lid from the side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001661/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9880131326302903, -0.1543698472826882 ], [ 0.03367523557477114, -0.9994328284126871 ], [ 0.0, 0.9999999996666666 ], [ -0.9987954783289388, 0.04906722398573722 ] ] }, { "task_id": "0001662", "id": "RH20T_cfg4_task_0015_user_0016_scene_0010_cfg_0004_104122062823#115", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001662/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.9331760998480866, 0.35941948566029924 ], [ 0.5746150061809121, -0.8184238478146335 ], [ -0.8813318997668446, -0.47249770629428955 ] ] }, { "task_id": "0001663", "id": "RH20T_cfg4_task_0202_user_0010_scene_0007_cfg_0004_104122062823#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a small pipette into the holder for small pipette tips', and now you are performing subtask 'pick up the small pipette 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001663/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.8265705336057568, 0.5628331484327255 ], [ 0.6613042398135985, -0.7501177923530136 ], [ -0.8850608778875861, -0.46547528659731796 ] ] }, { "task_id": "0001664", "id": "RH20T_cfg6_task_0084_user_0007_scene_0002_cfg_0006_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001664/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9182175526309646, 0.39607641439550734 ], [ -0.31622776599183794, 0.9486832979755138 ], [ 0.1771541608570141, -0.9841831147154716 ], [ -0.96473028947619, -0.26324032473613657 ] ] }, { "task_id": "0001665", "id": "RH20T_cfg6_task_0005_user_0014_scene_0010_cfg_0006_104122064161#52", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block a little to the left', and now you are performing subtask 'push the square slightly to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001665/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ 0.15372268872115397, -0.9881140293368672 ], [ -0.9978717666424277, -0.0652068810626635 ], [ -0.08028311217730964, 0.9967721012845041 ] ] }, { "task_id": "0001667", "id": "RH20T_cfg6_task_0016_user_0014_scene_0005_cfg_0006_104122064161#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'playing billiards', and now you are performing subtask 'pick up the cue stick on the green pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001667/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5782864061632209, 0.815833826490926 ], [ 0.7280553985100303, -0.6855182978596568 ], [ -0.526271734071826, -0.8503164481044885 ], [ -0.79999999984, 0.59999999988 ] ] }, { "task_id": "0001668", "id": "RH20T_cfg2_task_0001_user_0007_scene_0003_cfg_0002_037522062165#182", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button', and now you are performing subtask 'press the button on the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001668/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31478773603327126, 0.9491620942931969 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9123009634326098, -0.4095203928010572 ], [ -0.4112552319356582, -0.9115202324718569 ] ] }, { "task_id": "0001669", "id": "RH20T_cfg1_task_0004_user_0004_scene_0001_cfg_0001_039422060546#233", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001669/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989572375392087, -0.04565564114140762 ], [ -0.11860089391290185, -0.9929420063443084 ], [ 0.0, 0.9999999989999999 ], [ -0.9888906107843589, -0.14864508031730314 ] ] }, { "task_id": "0001670", "id": "RH20T_cfg4_task_0083_user_0015_scene_0001_cfg_0004_104122062823#126", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001670/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.87462035983993, -0.48480844274153406 ], [ 0.5812381936515288, 0.8137334711121403 ], [ -0.5857591509706486, -0.8104851738644853 ], [ -0.7854579757602703, 0.618914992801579 ] ] }, { "task_id": "0001671", "id": "RH20T_cfg4_task_0008_user_0010_scene_0008_cfg_0004_104122062823#106", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001671/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40933644162154065, -0.9123835145160258 ], [ -0.8915054715029916, -0.45300992735284346 ], [ -0.4283122289704494, 0.9036308065323833 ], [ 0.8637789008362573, 0.5038710254878168 ] ] }, { "task_id": "0001672", "id": "RH20T_cfg4_task_0013_user_0016_scene_0010_cfg_0004_104122062823#87", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001672/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7901574434661346, -0.6129039194972262 ], [ -0.6195067432870742, 0.7849913343609872 ], [ 0.7788809481411367, 0.6271718015207349 ], [ 0.5812381936515288, -0.8137334711121403 ] ] }, { "task_id": "0001674", "id": "RH20T_cfg4_task_0201_user_0010_scene_0008_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001674/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9203023089801554, -0.39120794992662733 ], [ -0.5062743113893237, -0.8623724958666448 ], [ 0.44721359543329126, 0.8944271908665825 ], [ -0.9131717801526227, 0.40757490100948346 ] ] }, { "task_id": "0001676", "id": "RH20T_cfg4_task_0102_user_0015_scene_0004_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'scrub the table with a brush'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001676/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8505928883205952, 0.5258248171572235 ], [ 0.5338445785273992, -0.8455826192495347 ], [ -0.7338540885578126, -0.6793071298808676 ], [ -0.6097107608125176, 0.7926239890562728 ] ] }, { "task_id": "0001677", "id": "RH20T_cfg7_task_0048_user_0020_scene_0001_cfg_0007_104122064161#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001677/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.085258610639223, 0.9963588556899916 ], [ 0.9999101055309796, -0.0134082384012711 ], [ -0.9999999995, 0.0 ], [ 0.14376705027932354, -0.9896115577609139 ] ] }, { "task_id": "0001678", "id": "RH20T_cfg7_task_0033_user_0020_scene_0007_cfg_0007_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping a block to push another block onto the black circle', and now you are performing subtask 'push the square onto the black circle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001678/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7584718965936329, -0.6517057480778097 ], [ 0.59999999988, 0.79999999984 ], [ -0.6155182173431242, -0.7881226580417179 ], [ -0.7769353377440679, 0.6295804007150406 ] ] }, { "task_id": "0001679", "id": "RH20T_cfg6_task_0010_user_0014_scene_0005_cfg_0006_104122064161#55", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001679/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8290514863276979, 0.5591722749008886 ], [ 0.5105078959532781, -0.8598730651493608 ], [ -0.8851063968123406, -0.4653887260364989 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0001680", "id": "RH20T_cfg6_task_0105_user_0020_scene_0002_cfg_0006_104122064161#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the jar on the shelf', and now you are performing subtask 'pick up the jar 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001680/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5891649267363023, -0.8080128025618205 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7628949368220741, -0.646522478627962 ], [ -0.8044281437847483, 0.594049965480198 ] ] }, { "task_id": "0001681", "id": "RH20T_cfg3_task_0024_user_0010_scene_0001_cfg_0003_104122062823#130", "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 socket to turn off the socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001681/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49640669203450577, 0.8680900852465482 ], [ 0.7072172928122018, -0.7069962522866585 ], [ -0.5994324991983699, -0.8004253112594555 ], [ -0.79999999984, 0.59999999988 ] ] }, { "task_id": "0001682", "id": "RH20T_cfg6_task_0101_user_0014_scene_0004_cfg_0006_104122064161#252", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001682/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906762851382, -0.9284766907128456 ], [ -0.9139621681649408, -0.4057994026156772 ], [ -0.22566834559920151, 0.974204186910793 ], [ 0.9205464163996863, 0.39063319783870815 ] ] }, { "task_id": "0001683", "id": "RH20T_cfg4_task_0102_user_0007_scene_0004_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001683/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7973499443613061, -0.6035172460062944 ], [ -0.6914892925595513, -0.7223867096476038 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6283505270940692, 0.7779303407764768 ] ] }, { "task_id": "0001684", "id": "RH20T_cfg5_task_0079_user_0007_scene_0008_cfg_0005_104122063678#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the microwave door handle to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001684/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9934643593754029, -0.11414274681652091 ], [ -0.06223448173338989, 0.998061555858844 ], [ 0.9948833090789536, 0.10103069492046089 ] ] }, { "task_id": "0001685", "id": "RH20T_cfg1_task_0020_user_0001_scene_0004_cfg_0001_039422060546#215", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001685/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999957159990819, 0.002927111798954734 ], [ 0.13131435003896277, -0.9913407796887228 ], [ -0.9997716777608248, 0.021368021604852183 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001686", "id": "RH20T_cfg5_task_0039_user_0007_scene_0006_cfg_0005_104122063678#247", "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 a full cup of water 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001686/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.399963795382873, 0.9165309391302223 ], [ 0.9332732023794305, 0.3591672726188214 ], [ 0.41311577815843337, -0.9106785128883584 ] ] }, { "task_id": "0001687", "id": "RH20T_cfg7_task_0016_user_0014_scene_0005_cfg_0007_104122064161#80", "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 pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001687/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9955725561420248, -0.09399619916164124 ], [ 0.0653660451713562, 0.997861353164184 ], [ 0.9909248022781612, 0.13441739556317575 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0001689", "id": "RH20T_cfg4_task_0068_user_0007_scene_0009_cfg_0004_104122062823#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button on the table', and now you are performing subtask 'press the green button 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001689/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9826930351237531, -0.1852414605839268 ], [ -0.38804340049641745, -0.9216411011511895 ], [ 0.2747211278785101, 0.9615239475747854 ], [ -0.9225450820261986, 0.3858893256223533 ] ] }, { "task_id": "0001690", "id": "RH20T_cfg2_task_0007_user_0013_scene_0004_cfg_0002_105422061350#269", "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 a small block from the right side to the marked position 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001690/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9518211942361482, 0.3066535736019926 ], [ 0.3209951830095024, -0.9470808267960534 ], [ -0.9587259143919004, -0.2843318854321735 ] ] }, { "task_id": "0001691", "id": "RH20T_cfg4_task_0012_user_0010_scene_0002_cfg_0004_104122062823#90", "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 on the table into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001691/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.912909242020436, -0.40816260954878403 ], [ 0.4472135954946948, 0.8944271909893896 ], [ -0.386012185400972, -0.9224936816704847 ], [ -0.8670788634118938, 0.49817089901392125 ] ] }, { "task_id": "0001692", "id": "RH20T_cfg7_task_0055_user_0020_scene_0002_cfg_0007_104122064161#123", "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 beaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001692/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9925402224647949, 0.12191762296540849 ], [ 0.13904287616689717, -0.9902863619111579 ], [ -0.9943646282898451, 0.10601408399829838 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001693", "id": "RH20T_cfg3_task_0032_user_0010_scene_0001_cfg_0003_104122062823#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the gift box', and now you are performing subtask 'push the lid of the gift box to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001693/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9092489179707843, 0.4162528140072542 ], [ -0.336336396986844, 0.9417419115631632 ], [ 0.4782719065602042, -0.8782118100978075 ], [ -0.9211821122227292, -0.38913174648295057 ] ] }, { "task_id": "0001694", "id": "RH20T_cfg2_task_0012_user_0006_scene_0001_cfg_0002_037522062165#248", "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 to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001694/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987839369853021, -0.04930159449896224 ], [ 0.0, 0.9999999998 ], [ -0.015238595754377705, -0.9998838858584704 ], [ -0.9944016579105571, -0.10566618543666344 ] ] }, { "task_id": "0001695", "id": "RH20T_cfg6_task_0081_user_0020_scene_0006_cfg_0006_104122064161#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold the leg of the glasses', and now you are performing subtask 'pick up the glasses 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001695/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994305039296328, 0.0337441523076234 ], [ 0.0, 0.9999999989999999 ], [ -0.04232128244196423, -0.9991040531658689 ], [ -0.9972811650979373, -0.07369041824349251 ] ] }, { "task_id": "0001696", "id": "RH20T_cfg3_task_0084_user_0010_scene_0004_cfg_0003_104122062823#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001696/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4596006469415654, -0.888125692304245 ], [ -0.8549023726897943, -0.518788910029272 ], [ -0.47234852273323813, 0.8814118634734432 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0001697", "id": "RH20T_cfg6_task_0077_user_0014_scene_0009_cfg_0006_104122064161#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the red Lego block on the gray baseplate on the right side of the desktop', and now you are performing subtask 'pick up the red small Lego block from the right side of the work area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001697/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7241379310095125, 0.6896551723900118 ], [ 0.6595795926898014, -0.7516347257193189 ], [ -0.7869947173655379, -0.6169597351843449 ], [ -0.6093817163947179, 0.7928769915464994 ] ] }, { "task_id": "0001698", "id": "RH20T_cfg4_task_0082_user_0015_scene_0004_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the large spoon in the white bowl', and now you are performing subtask 'pick up the large spoon from the red bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001698/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08304547984684342, 0.996545758162121 ], [ 0.9961707348123873, -0.08742921195658006 ], [ -0.12498161588878537, -0.992159057656497 ], [ -0.9962490967824635, 0.08653171187562127 ] ] }, { "task_id": "0001699", "id": "RH20T_cfg6_task_0045_user_0020_scene_0008_cfg_0006_104122064161#210", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001699/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6418472015702955, 0.7668325565834959 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7278673393313843, -0.6857179714245876 ], [ -0.6422281376316121, -0.766513547978267 ] ] }, { "task_id": "0001700", "id": "RH20T_cfg3_task_0012_user_0011_scene_0009_cfg_0003_104122062823#169", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001700/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.23464053309603164, 0.9720822085407025 ], [ 0.9903578152931519, -0.13853302020736893 ], [ -0.1260068787056393, -0.992029367770361 ], [ -0.9961938614318563, 0.0871653052853457 ] ] }, { "task_id": "0001701", "id": "RH20T_cfg2_task_0013_user_0003_scene_0002_cfg_0002_037522062165#219", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001701/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.847489225324469, -0.5308125968352028 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.35950821508451863, -0.9331419202279702 ], [ -0.8876612824807999, 0.4604969571935756 ] ] }, { "task_id": "0001702", "id": "RH20T_cfg6_task_0002_user_0020_scene_0003_cfg_0006_104122064161#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull out the napkin holder to the external position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001702/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4676430615298124, -0.883917398291845 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.9322423429635742, -0.3618345118777168 ], [ -0.4426362930184926, 0.8967012390438898 ] ] }, { "task_id": "0001703", "id": "RH20T_cfg2_task_0015_user_0006_scene_0006_cfg_0002_037522062165#250", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001703/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6746049846368216, 0.7381789178127168 ], [ 0.7664919759715745, -0.6422538834224292 ], [ -0.7143081910249816, -0.6998312712608794 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001704", "id": "RH20T_cfg4_task_0016_user_0010_scene_0008_cfg_0004_104122062823#117", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001704/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9971945328727599, -0.0748536145331545 ], [ -0.14717962475556995, -0.989109780588995 ], [ 0.0, 0.999999999875 ], [ -0.9880425353914302, 0.15418154317970267 ] ] }, { "task_id": "0001705", "id": "RH20T_cfg5_task_0101_user_0007_scene_0009_cfg_0005_104122063678#383", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001705/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.861432765556026, 0.5078716279006897 ], [ -0.40613846601221054, 0.9138115485274737 ], [ 0.42029718119391, -0.9073865105237423 ], [ -0.8986742855775497, -0.4386166075762302 ] ] }, { "task_id": "0001706", "id": "RH20T_cfg4_task_0109_user_0007_scene_0001_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001706/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44882269842601774, 0.8936208286390757 ], [ 0.8319860456946586, -0.554796557099416 ], [ -0.5441917014224581, -0.8389609002229664 ], [ -0.8320502942224591, 0.554700196148306 ] ] }, { "task_id": "0001708", "id": "RH20T_cfg5_task_0011_user_0007_scene_0007_cfg_0005_104122063678#249", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the watering can next to the plant'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001708/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, 0.7071067810198809 ], [ 0.589407520553331, 0.8078358587703164 ], [ 0.7668826560563605, -0.6417873416015167 ], [ -0.6923798118636177, -0.7215332259319048 ] ] }, { "task_id": "0001709", "id": "RH20T_cfg4_task_0112_user_0014_scene_0007_cfg_0004_038522062288#229", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the charger to the socket', and now you are performing subtask 'pick up the charger from the surface next to the notebook'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001709/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995896042606649, 0.02864651905568124 ], [ 0.0, 0.9999999996666666 ], [ 0.05140334403372844, -0.9986779742350135 ], [ -0.988792967214967, 0.14929322819947738 ] ] }, { "task_id": "0001710", "id": "RH20T_cfg2_task_0083_user_0014_scene_0004_cfg_0002_105422061350#248", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the flyswatter in the specified position', and now you are performing subtask 'pick up the flyswatter 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001710/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6676620604830826, -0.7444644873944523 ], [ -0.8002553502976768, -0.5996593819160528 ], [ -0.7728246550369655, 0.6346196124979083 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001711", "id": "RH20T_cfg6_task_0104_user_0014_scene_0007_cfg_0006_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'pull the plate to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001711/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9941556086574168, -0.10795659208682479 ], [ -0.10650192482985071, -0.9943124961537679 ], [ 0.0, 0.9999999999 ], [ -0.9879482349188429, -0.15478464110092727 ] ] }, { "task_id": "0001712", "id": "RH20T_cfg4_task_0213_user_0014_scene_0009_cfg_0004_104122062823#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001712/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9379381636350346, 0.3468025392019775 ], [ -0.26764386377176796, 0.9635179095783646 ], [ 0.12805696612387632, -0.991766814038032 ], [ -0.9340565971229353, -0.35712501084511367 ] ] }, { "task_id": "0001714", "id": "RH20T_cfg4_task_0032_user_0016_scene_0008_cfg_0004_104122062823#91", "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 into the top of the gift 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001714/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06651901051934915, 0.9977851577902372 ], [ 0.9994601205409147, 0.03285524993574608 ], [ 0.13293154797295503, -0.9911252209249415 ], [ -0.9992771872080289, 0.038014512039614264 ] ] }, { "task_id": "0001715", "id": "RH20T_cfg6_task_0019_user_0014_scene_0006_cfg_0006_104122064161#28", "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 stone from above the black bowl 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001715/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.900375998991893, 0.4351126985498708 ], [ 0.2760918786443079, 0.9611312473053077 ], [ 0.9121018231296157, -0.40996373527866 ], [ -0.32711056387127724, -0.9449860734059121 ] ] }, { "task_id": "0001717", "id": "RH20T_cfg2_task_0019_user_0003_scene_0004_cfg_0002_037522062165#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 stone from the black 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001717/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08440160487620268, -0.9964318185878658 ], [ 0.9999999989999999, 0.0 ], [ -0.9984298623986272, -0.05601615722859239 ], [ 0.014046899754990209, 0.9999013374364859 ] ] }, { "task_id": "0001718", "id": "RH20T_cfg6_task_0213_user_0014_scene_0003_cfg_0006_104122064161#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife on the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001718/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9395034123018056, 0.34253954264181485 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.38468998221481265, -0.9230458372061309 ], [ -0.9819108209833396, -0.18934397174408296 ] ] }, { "task_id": "0001719", "id": "RH20T_cfg5_task_0014_user_0007_scene_0002_cfg_0005_104122063678#242", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001719/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10529305268121421, -0.9944412366032852 ], [ -0.9884106870158524, -0.15180353682589418 ], [ 0.9999999989999999, 0.0 ], [ -0.13532166071536242, 0.9908017198921469 ] ] }, { "task_id": "0001720", "id": "RH20T_cfg4_task_0104_user_0007_scene_0004_cfg_0004_104122062823#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'pull the plate to the center 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001720/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41380294426693737, 0.9103664773872623 ], [ 0.8681301555071118, -0.49633661269263407 ], [ -0.38333055190849374, -0.9236112212254297 ], [ -0.9455803500793426, 0.3253886930177935 ] ] }, { "task_id": "0001721", "id": "RH20T_cfg4_task_0128_user_0010_scene_0001_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the usb drive to the docking station', and now you are performing subtask 'pick up the USB drive on the wooden 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001721/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9966264774857874, 0.08207109341462072 ], [ 0.028256997410134568, -0.9996006913249729 ], [ -0.9999000511432654, 0.014138165499639074 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0001722", "id": "RH20T_cfg2_task_0101_user_0007_scene_0001_cfg_0002_105422061350#134", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001722/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 6.699635649523282e-05, 0.9999999977557441 ], [ -0.9999999999230769, 0.0 ], [ 0.9916756671825, -0.128760906792953 ], [ -0.14000427547975686, -0.990150899028723 ] ] }, { "task_id": "0001723", "id": "RH20T_cfg2_task_0064_user_0007_scene_0003_cfg_0002_105422061350#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and place it on the table', and now you are performing subtask 'pick up the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001723/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.983967554015334, 0.17834756136566846 ], [ 0.4590724570773497, 0.8883988288786545 ], [ 0.9044636595072945, -0.4265506870591969 ], [ -0.31622776591683793, -0.9486832977505137 ] ] }, { "task_id": "0001724", "id": "RH20T_cfg5_task_0118_user_0010_scene_0008_cfg_0005_104122063678#354", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turning on the water tap', and now you are performing subtask 'twist the water tap counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001724/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06651901051934915, 0.9977851577902372 ], [ 0.999707049299905, -0.02420362741568682 ], [ -0.050473249709914125, -0.9987254132461638 ], [ -0.9998130707147448, -0.01933451907735771 ] ] }, { "task_id": "0001725", "id": "RH20T_cfg4_task_0093_user_0014_scene_0008_cfg_0004_038522062288#200", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001725/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8176492898407361, 0.5757166306638534 ], [ -0.59999999988, 0.79999999984 ], [ 0.5371598036672011, -0.8434804949281365 ], [ -0.769711480171957, -0.6383919151207157 ] ] }, { "task_id": "0001726", "id": "RH20T_cfg4_task_0001_user_0010_scene_0006_cfg_0004_104122062823#84", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001726/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4837997388300659, -0.8751787318645033 ], [ 0.8320502942916899, 0.5547001961944599 ], [ -0.8670644398455736, -0.49819600274920084 ], [ -0.6703305240160271, 0.7420626581174925 ] ] }, { "task_id": "0001727", "id": "RH20T_cfg3_task_0012_user_0010_scene_0006_cfg_0003_104122062823#147", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001727/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6401843995825127, -0.7682212794990152 ], [ -0.7234360832334716, 0.6903913625443278 ], [ 0.6648640701679186, 0.7469643687618231 ], [ 0.808623266787125, -0.5883267904919154 ] ] }, { "task_id": "0001728", "id": "RH20T_cfg4_task_0217_user_0007_scene_0006_cfg_0004_104122062823#115", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001728/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2509621587747287, 0.9679968981310965 ], [ 0.9276319908597552, 0.37349550135653176 ], [ 0.38195393046678017, -0.9241813647769457 ], [ -0.9881125209904748, -0.15373238390738797 ] ] }, { "task_id": "0001729", "id": "RH20T_cfg2_task_0005_user_0002_scene_0006_cfg_0002_104122061850#223", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block', and now you are performing subtask 'push the small block to the right 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001729/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7571852900012004, -0.6532001504943167 ], [ -0.6596627647553021, -0.7515617318593272 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7137319918634278, 0.7004189059346299 ] ] }, { "task_id": "0001730", "id": "RH20T_cfg4_task_0008_user_0010_scene_0003_cfg_0004_104122062823#117", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001730/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8181525131092067, -0.5750012741664922 ], [ 0.544988350572567, 0.8384436162654877 ], [ -0.5590525916649352, -0.8291321967893415 ], [ -0.830974978640948, 0.5563097921775925 ] ] }, { "task_id": "0001731", "id": "RH20T_cfg5_task_0047_user_0007_scene_0005_cfg_0005_104122063678#278", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001731/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7936961197025487, 0.6083144495810678 ], [ 0.6135342384486578, -0.7896681190545972 ], [ -0.7707494548616817, -0.6371383506197226 ] ] }, { "task_id": "0001732", "id": "RH20T_cfg3_task_0043_user_0010_scene_0001_cfg_0003_104122062823#150", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001732/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.921869846724041, 0.3874996589688731 ], [ -0.44721359543329126, 0.8944271908665825 ], [ 0.5236439133253671, -0.8519372347991931 ], [ -0.9203562196499505, -0.39108110278003994 ] ] }, { "task_id": "0001733", "id": "RH20T_cfg6_task_0016_user_0014_scene_0008_cfg_0006_104122064161#41", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001733/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996836709103338, 0.0794768858475666 ], [ -0.1351132047272283, 0.9908301679996742 ], [ 0.19311721817802016, -0.9811756927498678 ], [ -0.9977360705113123, -0.0672512721117284 ] ] }, { "task_id": "0001734", "id": "RH20T_cfg6_task_0018_user_0014_scene_0004_cfg_0006_104122064161#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the middle block up above the table and throw it onto the table', and now you are performing subtask 'pull the middle block above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001734/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.6166337823796066, -0.7872501371408074 ], [ -0.6679497496546888, -0.7442063772477623 ], [ -0.6685936938442356, 0.7436279127034707 ] ] }, { "task_id": "0001735", "id": "RH20T_cfg4_task_0038_user_0014_scene_0003_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the green cup in the lower left corner', and now you are performing subtask 'pick up the green cup lower left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001735/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.170541433702519, 0.9853505058367765 ], [ 0.9970563662128438, 0.07667204571706517 ], [ 0.22536738937056403, -0.9742738525734418 ], [ -0.9891626211979883, -0.1468240744044562 ] ] }, { "task_id": "0001736", "id": "RH20T_cfg2_task_0083_user_0007_scene_0001_cfg_0002_037522062165#179", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001736/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9960991657831608, -0.0882408744635441 ], [ 0.007531590988771164, 0.9999716371663638 ], [ 0.9929605946047378, 0.11844516690099874 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0001737", "id": "RH20T_cfg3_task_0001_user_0016_scene_0005_cfg_0003_104122062823#342", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001737/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8000023346215476, -0.5999968871586531 ], [ 0.5812381936515288, 0.8137334711121403 ], [ -0.6648540189262894, -0.7469733151308428 ], [ -0.806908200125843, 0.5906768630729264 ] ] }, { "task_id": "0001738", "id": "RH20T_cfg4_task_0014_user_0016_scene_0004_cfg_0004_104122062823#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale and place it on the table', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001738/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999473684 ], [ 0.9905413458041146, -0.13721458469336825 ], [ -0.1062657190231765, -0.9943377680448869 ], [ -0.9918915233063254, 0.12708739509903205 ] ] }, { "task_id": "0001739", "id": "RH20T_cfg4_task_0126_user_0010_scene_0010_cfg_0004_104122062823#174", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001739/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6316566419540985, 0.7752482742162485 ], [ 0.8032882571015113, -0.5955904431761949 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7975033811571023, -0.6033144760761088 ] ] }, { "task_id": "0001740", "id": "RH20T_cfg6_task_0055_user_0014_scene_0005_cfg_0006_104122063633#133", "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 large beaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001740/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995410642941737, -0.030292916493308876 ], [ 0.0, 0.9999999999333333 ], [ -0.153245495051967, -0.9881881492136392 ], [ -0.9994008974799331, 0.034609913555283124 ] ] }, { "task_id": "0001741", "id": "RH20T_cfg2_task_0084_user_0007_scene_0004_cfg_0002_037522062165#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001741/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6398511526928206, 0.768498862977473 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.5878577287642739, -0.8089643321754733 ], [ -0.6831923230532015, -0.7302384882496745 ] ] }, { "task_id": "0001742", "id": "RH20T_cfg7_task_0010_user_0014_scene_0004_cfg_0007_104122064161#93", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001742/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9989144005540043, -0.046583477390963905 ], [ -0.08113918246899074, -0.9967027807065976 ], [ -0.9975073119575185, -0.07056318155586472 ] ] }, { "task_id": "0001743", "id": "RH20T_cfg6_task_0033_user_0014_scene_0010_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the block onto the mark', and now you are performing subtask 'slide the square to the mark'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001743/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776599183794, 0.9486832979755138 ], [ 0.9172797692595485, -0.3982434241856978 ], [ -0.3778306014489197, -0.92587474131696 ], [ -0.9014031215701063, 0.4329808453311396 ] ] }, { "task_id": "0001744", "id": "RH20T_cfg2_task_0014_user_0006_scene_0008_cfg_0002_037522062165#228", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the red object taken off the scale is placed on the table', and now you are performing subtask 'pick up the red object from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001744/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9893237051737308, 0.14573471234170984 ], [ -0.08182232266397564, 0.9966469322251849 ], [ 0.9918452129046678, 0.127448317517707 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0001745", "id": "RH20T_cfg4_task_0021_user_0016_scene_0006_cfg_0004_104122062823#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001745/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8152876258968639, 0.5790562037138152 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.5411084519740708, -0.8409528186540699 ], [ -0.893653871103803, -0.44875690374766114 ] ] }, { "task_id": "0001746", "id": "RH20T_cfg4_task_0011_user_0010_scene_0007_cfg_0004_104122062823#94", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001746/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6580226381490669, -0.7529981458697903 ], [ -0.631673237192622, -0.7752347524554053 ], [ -0.6452982025895782, 0.7639307754860121 ], [ 0.686623532935984, 0.7270131525204536 ] ] }, { "task_id": "0001747", "id": "RH20T_cfg7_task_0019_user_0014_scene_0007_cfg_0007_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the black stone from the bowl of black stones and place it on the 3-4 point of the Go board', and now you are performing subtask 'pick up a black Go piece in the black Go piece bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001747/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.006740631678227995, 0.9999772816842284 ], [ 0.9934657586655002, -0.11413056715526418 ], [ -0.9999999998333333, 0.0 ], [ -0.1150615729703599, -0.9933583615320237 ] ] }, { "task_id": "0001748", "id": "RH20T_cfg5_task_0008_user_0007_scene_0009_cfg_0005_104122063678#262", "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 cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001748/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9990997808587568, -0.04242202126236014 ], [ -0.012801314096374316, -0.9999180598216066 ], [ -0.9995123040738864, 0.031227455946829723 ] ] }, { "task_id": "0001749", "id": "RH20T_cfg7_task_0022_user_0020_scene_0009_cfg_0007_104122064161#110", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001749/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991268397001676, -0.04177987782121488 ], [ 0.04839021305534963, -0.9988285074428231 ], [ 0.0, 0.9999999999411765 ], [ -0.9918103112182439, 0.1277196404675892 ] ] }, { "task_id": "0001750", "id": "RH20T_cfg5_task_0225_user_0010_scene_0003_cfg_0005_104122063678#264", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the bowl into the microwave', and now you are performing subtask 'pull the handle of the microwave to open the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001750/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9976447175317223, -0.06859313071328701 ], [ 0.0, 0.9999999995 ], [ 0.07242872582519509, -0.9973735908250924 ], [ -0.9999573705757834, -0.009233473407415774 ] ] }, { "task_id": "0001751", "id": "RH20T_cfg1_task_0073_user_0014_scene_0009_cfg_0001_819112070044#203", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the item in the drawer and close the drawer', and now you are performing subtask 'transfer the item from the table to the open 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001751/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7953842051021737, -0.6061055735381281 ], [ -0.6922777977528519, -0.7216311043313346 ], [ -0.6304908215516427, 0.7761967044114106 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0001752", "id": "RH20T_cfg7_task_0002_user_0020_scene_0004_cfg_0007_104122064161#92", "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 tissue box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001752/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.37644056145651433, -0.9264407718199282 ], [ -0.9856846536058949, -0.16859941769124573 ], [ 0.9578262851294083, 0.28734788553882246 ], [ -0.15972774118007066, 0.9871611057459224 ] ] }, { "task_id": "0001753", "id": "RH20T_cfg3_task_0028_user_0011_scene_0009_cfg_0003_104122062823#253", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001753/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7758327494722478, 0.6309386220911924 ], [ 0.6874926592317433, 0.7261913270636507 ], [ 0.7578531716816148, -0.6524251452635138 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0001754", "id": "RH20T_cfg5_task_0028_user_0010_scene_0007_cfg_0005_104122063678#293", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'pick up the drawer handle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001754/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04509591923904682, 0.998982661545227 ], [ 0.9999838512166901, -0.005683071866210775 ], [ -0.9899494935211665, -0.1414213562173095 ], [ 0.2062172381572172, -0.9785062343627707 ] ] }, { "task_id": "0001755", "id": "RH20T_cfg5_task_0014_user_0007_scene_0003_cfg_0005_104122063678#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale and put it on the table', and now you are performing subtask 'pick up the block from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001755/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6326068551013942, 0.7744730898350979 ], [ 0.6251553545936659, -0.7805003412061189 ], [ -0.747814428964602, -0.6639078097389322 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001756", "id": "RH20T_cfg3_task_0021_user_0010_scene_0003_cfg_0003_104122062823#134", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001756/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2511620363764397, -0.9679450560249998 ], [ -0.8694317100256006, -0.49405313641546705 ], [ -0.2860205072462305, 0.9582234965991019 ], [ 0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0001757", "id": "RH20T_cfg5_task_0041_user_0007_scene_0002_cfg_0005_104122063678#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001757/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9276186136569642, 0.37352872392512443 ], [ 0.5659193317875166, -0.8244606175610638 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9520356349056959, -0.3059871727208651 ] ] }, { "task_id": "0001758", "id": "RH20T_cfg6_task_0038_user_0014_scene_0005_cfg_0006_104122064161#52", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001758/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2812271594703132, -0.9596412271136849 ], [ -0.9209106214152188, -0.38977381564778774 ], [ 0.9161573348497302, 0.400818833996757 ], [ -0.34166749062481555, 0.9398209009434413 ] ] }, { "task_id": "0001759", "id": "RH20T_cfg5_task_0064_user_0007_scene_0010_cfg_0005_104122063678#241", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and put it on the table', and now you are performing subtask 'pick up the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001759/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7049886965135458, 0.7092185402174224 ], [ 0.6508052883255271, -0.7592446751130545 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6576399091878474, -0.7533324298365229 ] ] }, { "task_id": "0001760", "id": "RH20T_cfg5_task_0079_user_0007_scene_0005_cfg_0005_104122063678#310", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001760/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7163441359113253, 0.69774714542265 ], [ 0.8045398876545633, -0.5938986185981432 ], [ -0.7334125405847673, -0.6797838224854994 ] ] }, { "task_id": "0001761", "id": "RH20T_cfg1_task_0022_user_0001_scene_0009_cfg_0001_039422060546#125", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001761/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07986516756844343, 0.9968056756506077 ], [ 0.9929149663654188, -0.11882705738828792 ], [ -0.9999999989999999, 0.0 ], [ -0.14375650677913937, -0.9896130894236693 ] ] }, { "task_id": "0001762", "id": "RH20T_cfg4_task_0120_user_0007_scene_0009_cfg_0004_104122062823#154", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001762/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.936130104467665, -0.35165384614611966 ], [ -0.2967953725120352, -0.9549411012494133 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.9731642916263004, 0.230111411067511 ] ] }, { "task_id": "0001765", "id": "RH20T_cfg2_task_0016_user_0006_scene_0003_cfg_0002_037522062165#234", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001765/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.998615897239769, -0.052595530038316046 ], [ -0.12134190281902657, -0.9926107709572055 ], [ -0.990150235046928, 0.14000897127153414 ] ] }, { "task_id": "0001766", "id": "RH20T_cfg5_task_0122_user_0010_scene_0002_cfg_0005_104122063678#345", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001766/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6637532822214995, 0.7479515895699309 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.5878971407611291, -0.8089356908215195 ], [ -0.7333698231057464, -0.6798299070781207 ] ] }, { "task_id": "0001767", "id": "RH20T_cfg2_task_0080_user_0007_scene_0002_cfg_0002_037522062165#200", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001767/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5148640130454741, -0.8572718635711253 ], [ -0.9407527635897207, -0.3390932582613566 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.5507336656055847, 0.8346810346285796 ] ] }, { "task_id": "0001768", "id": "RH20T_cfg7_task_0045_user_0020_scene_0003_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001768/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6798454544775592, 0.7333554104431227 ], [ 0.6340243841156403, -0.7733130545560336 ], [ -0.697514623573857, -0.7165705477485247 ] ] }, { "task_id": "0001770", "id": "RH20T_cfg6_task_0049_user_0014_scene_0009_cfg_0006_104122064161#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001770/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.29804319094291076, 0.9545523853265298 ], [ 0.9306999289226099, -0.3657836003752068 ], [ -0.4185092092936211, -0.9082125531704723 ], [ -0.93632917751425, 0.35112344156784375 ] ] }, { "task_id": "0001771", "id": "RH20T_cfg6_task_0128_user_0014_scene_0007_cfg_0006_104122064161#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001771/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1531248298687256, -0.9882068540936528 ], [ -0.9859588669822918, -0.1669883607291101 ], [ 0.9989685401649389, 0.04540766091658813 ], [ -0.04369699844684444, 0.9990448299884928 ] ] }, { "task_id": "0001772", "id": "RH20T_cfg4_task_0081_user_0015_scene_0010_cfg_0004_104122062823#73", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001772/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.77618968738924, -0.6304994601033326 ], [ -0.4531992985933322, -0.8914092190203732 ], [ -0.8438049687642254, 0.5366499554540227 ], [ 0.5547001962081352, 0.8320502943122027 ] ] }, { "task_id": "0001773", "id": "RH20T_cfg2_task_0062_user_0007_scene_0002_cfg_0002_105422061350#242", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001773/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.800535451151164, 0.599285400664994 ], [ 0.7859610840215836, -0.6182759694534612 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.600315769300965, -0.7997630756221437 ] ] }, { "task_id": "0001774", "id": "RH20T_cfg2_task_0005_user_0013_scene_0005_cfg_0002_105422061350#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'gently push the block to the left', and now you are performing subtask 'push the square to the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001774/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.99999999975, 0.0 ], [ 0.11104151900862257, 0.9938157681664432 ], [ 0.9948968681903654, -0.10089708452181766 ], [ -0.010311410156620175, -0.9999468359970853 ] ] }, { "task_id": "0001775", "id": "RH20T_cfg1_task_0001_user_0004_scene_0010_cfg_0001_819112070044#465", "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 yellow base green button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001775/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06353793828795336, 0.9979794238350389 ], [ 0.9954988008759447, 0.09477413916547252 ], [ 0.07344226934938868, -0.9972994701055505 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0001776", "id": "RH20T_cfg7_task_0062_user_0014_scene_0007_cfg_0007_104122064161#62", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001776/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1515425199290666, 0.9884507396191013 ], [ -0.9999999989999999, 0.0 ], [ 0.9893438038152169, 0.14559820689980194 ], [ 0.12323481330820842, -0.9923775394419662 ] ] }, { "task_id": "0001777", "id": "RH20T_cfg4_task_0102_user_0007_scene_0005_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001777/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.8610208310114119, -0.5085696889949477 ], [ -0.347702009946656, -0.9376050939916312 ], [ -0.8703164567213608, 0.4924929087408018 ] ] }, { "task_id": "0001778", "id": "RH20T_cfg4_task_0101_user_0007_scene_0006_cfg_0004_104122062823#86", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'clean the table with a cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001778/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7489919195385522, 0.6625791307202145 ], [ 0.6138288217368832, -0.7894391538333463 ], [ -0.732473262729094, -0.6807957985967568 ] ] }, { "task_id": "0001779", "id": "RH20T_cfg2_task_0001_user_0006_scene_0007_cfg_0002_037522062165#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button on the white base', and now you are performing subtask 'press the green button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001779/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9884900426216507, 0.15128593998732037 ], [ 0.026894924636633687, -0.9996382660886836 ], [ -0.9946438827083391, -0.10336124317595831 ], [ 0.0, 0.9999999998 ] ] }, { "task_id": "0001781", "id": "RH20T_cfg4_task_0064_user_0015_scene_0002_cfg_0004_104122062823#189", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001781/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979005138, 0.31622776596683794 ], [ 0.4485817428142874, -0.8937418083617307 ], [ -0.9669354285118794, -0.2550213267327817 ], [ -0.4421184285904374, 0.8969566851864823 ] ] }, { "task_id": "0001782", "id": "RH20T_cfg5_task_0201_user_0007_scene_0005_cfg_0005_104122063678#296", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up medium pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001782/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9997090138207171, -0.024122348260675514 ], [ 0.007970787818906469, -0.9999682327661945 ], [ -0.9989538211508234, -0.045730331380483616 ] ] }, { "task_id": "0001783", "id": "RH20T_cfg1_task_0028_user_0001_scene_0003_cfg_0001_039422060546#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001783/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9904153411297968, 0.13812114991828167 ], [ 0.031563387407311704, -0.999501752162234 ], [ -0.9996383272267768, -0.026892652142387116 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001784", "id": "RH20T_cfg4_task_0122_user_0007_scene_0010_cfg_0004_104122062823#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001784/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9898099529450621, -0.14239472269327205 ], [ 0.03974588711634186, -0.9992098200364802 ], [ 0.0, 0.99999999975 ], [ -0.995166540104024, -0.09820161636849939 ] ] }, { "task_id": "0001785", "id": "RH20T_cfg3_task_0073_user_0010_scene_0001_cfg_0003_104122062823#555", "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 cube on the surface of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001785/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1246918499354368, -0.9921955162969034 ], [ -0.9999912724312572, 0.004177925479850961 ], [ 0.9999999996666666, 0.0 ], [ 0.0015522838146121106, 0.9999987952067537 ] ] }, { "task_id": "0001786", "id": "RH20T_cfg3_task_0073_user_0010_scene_0001_cfg_0003_104122062823#647", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the cube in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001786/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4257970363072167, 0.9048187021528354 ], [ 0.9011860827428347, 0.43343239873205663 ], [ 0.4585170856345588, -0.888685592423547 ], [ -0.9391281859402723, -0.34356695180493346 ] ] }, { "task_id": "0001787", "id": "RH20T_cfg4_task_0014_user_0016_scene_0007_cfg_0004_104122062823#86", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001787/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8912575529281378, -0.45349749100579106 ], [ -0.5822043626855408, -0.8130424835578539 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.7964005908652658, 0.6047694592730817 ] ] }, { "task_id": "0001788", "id": "RH20T_cfg2_task_0002_user_0006_scene_0010_cfg_0002_037522062165#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001788/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7129169723124315, 0.7012484513985581 ], [ 0.608987201144248, -0.7931800481873553 ], [ -0.7922062866182035, -0.6102533895379827 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0001789", "id": "RH20T_cfg4_task_0091_user_0015_scene_0009_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small cube from the blue box to the black box', and now you are performing subtask 'pick up the small square from the blue 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001789/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4861929790027249, 0.873851467452253 ], [ 0.8443722067359413, -0.5357570125456846 ], [ -0.5704606584954486, -0.8213249278506889 ], [ -0.8137334711121403, 0.5812381936515288 ] ] }, { "task_id": "0001790", "id": "RH20T_cfg1_task_0021_user_0001_scene_0005_cfg_0001_039422060546#252", "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 it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001790/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6719824791191749, 0.74056704474129 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6037018109905296, 0.7972102128088645 ], [ 0.6124699146306383, -0.7904938985674328 ] ] }, { "task_id": "0001791", "id": "RH20T_cfg2_task_0208_user_0007_scene_0006_cfg_0002_037522062165#241", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the lotus root', and now you are performing subtask 'pick up the knife from the knife holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001791/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6426777958389172, -0.7661365744667403 ], [ -0.7740773907584734, -0.6330909832848306 ], [ -0.8016510280639524, 0.5977922960393586 ], [ 0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0001792", "id": "RH20T_cfg1_task_0035_user_0015_scene_0002_cfg_0001_750612070851#63", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001792/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7231053336144453, -0.6907377769445809 ], [ -0.8166821104114544, -0.5770878014079773 ], [ -0.7165216590914923, 0.6975648443354749 ], [ 0.7682212795481955, 0.6401843996234963 ] ] }, { "task_id": "0001793", "id": "RH20T_cfg6_task_0042_user_0014_scene_0007_cfg_0006_104122064161#222", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the lid counterclockwise', and now you are performing subtask 'twist the lid counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001793/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5535777861520964, 0.8327974751876616 ], [ 0.815799054631953, 0.5783354584163171 ], [ -0.8944271905999158, -0.4472135952999579 ], [ 0.5157847475470979, -0.8567182116645918 ] ] }, { "task_id": "0001794", "id": "RH20T_cfg2_task_0014_user_0006_scene_0010_cfg_0002_037522062165#271", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the small wooden block from the scale', and now you are performing subtask 'pick up the small wooden block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001794/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067811032142, 0.7071067811032142 ], [ 0.657080660344694, 0.7538202742039913 ], [ 0.6014091004050229, -0.7989412331016726 ], [ -0.6761628324787142, -0.7367522134166699 ] ] }, { "task_id": "0001795", "id": "RH20T_cfg7_task_0042_user_0020_scene_0006_cfg_0007_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001795/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6807119536356694, -0.7325511833158898 ], [ 0.707106781148086, 0.707106781148086 ], [ -0.7371063828252533, -0.6757767237766267 ], [ -0.6231073840330827, 0.7821362975616516 ] ] }, { "task_id": "0001796", "id": "RH20T_cfg6_task_0010_user_0014_scene_0002_cfg_0006_104122064161#58", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001796/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08499725621282557, 0.996381185308259 ], [ 0.9953601957968597, -0.09621892029760644 ], [ -0.08634205796347999, -0.996265551460368 ], [ -0.9999999995, 0.0 ] ] }, { "task_id": "0001797", "id": "RH20T_cfg2_task_0009_user_0013_scene_0007_cfg_0002_105422061350#252", "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 ring from the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001797/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.765667057839328, 0.6432370920116992 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7739066349058187, -0.6332997082335912 ], [ -0.7620590184799046, -0.647507569340656 ] ] }, { "task_id": "0001798", "id": "RH20T_cfg3_task_0046_user_0010_scene_0003_cfg_0003_104122062823#199", "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 next to the cup rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001798/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10443712209487345, -0.9945314914715071 ], [ -0.9991360313836911, -0.04155948496851051 ], [ 0.9962405881525309, -0.08662961636108965 ], [ 0.028838796441940737, 0.9995840754132593 ] ] }, { "task_id": "0001799", "id": "RH20T_cfg2_task_0070_user_0014_scene_0004_cfg_0002_105422061350#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001799/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12129276328973258, -0.992616776794318 ], [ 0.9999999989999999, 0.0 ], [ -0.9957950862751338, 0.09160865761650876 ], [ -0.10561201663281115, 0.9944074124536435 ] ] }, { "task_id": "0001800", "id": "RH20T_cfg4_task_0128_user_0007_scene_0008_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB hard drive 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001800/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8197653119169837, 0.5726996013423185 ], [ 0.4803033854818076, -0.8771024215533294 ], [ -0.828571228782913, -0.5598836654459332 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0001803", "id": "RH20T_cfg4_task_0124_user_0010_scene_0002_cfg_0004_104122062823#69", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever on the machine'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001803/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9761870601310116, 0.21693045780689146 ], [ 0.30310646012127074, 0.9529567009223202 ], [ 0.956107421904212, -0.29301637800587377 ], [ -0.25118167604441954, -0.9679399597183269 ] ] }, { "task_id": "0001804", "id": "RH20T_cfg7_task_0001_user_0014_scene_0009_cfg_0007_104122064161#85", "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 red button on the left side on the desktop from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001804/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9897665911720308, -0.1426958128316951 ], [ 0.0, 0.9999999998333333 ], [ 0.09704385600218535, -0.9952801063078811 ], [ -0.9938737815698838, -0.11052106725859555 ] ] }, { "task_id": "0001805", "id": "RH20T_cfg5_task_0041_user_0010_scene_0002_cfg_0005_104122063678#295", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001805/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9976801351270717, -0.06807604551402921 ], [ 0.0, 0.9999999996666666 ], [ -0.11028585074537775, -0.9938999100137641 ], [ -0.9968612993612948, 0.07916785860253614 ] ] }, { "task_id": "0001806", "id": "RH20T_cfg4_task_0033_user_0016_scene_0004_cfg_0004_038522062288#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a block to sweep the other block onto the mark', and now you are performing subtask 'pick up the larger block on the left side of the paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001806/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6271273074018543, -0.7789167736741199 ], [ -0.805039327346372, -0.5932214438350161 ], [ 0.7682212794990152, 0.6401843995825127 ], [ -0.6439305564779807, 0.7650839420834541 ] ] }, { "task_id": "0001807", "id": "RH20T_cfg7_task_0017_user_0020_scene_0005_cfg_0007_104122064161#152", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001807/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.46290727076500965, -0.8864067117711204 ], [ -0.9084934842007037, -0.41789901790368666 ], [ -0.3269281135447027, 0.9450492096045063 ], [ 0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0001808", "id": "RH20T_cfg1_task_0089_user_0015_scene_0001_cfg_0001_750612070853#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block to the right 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001808/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9983577818953778, -0.057286467240888 ], [ -0.1358349187789053, 0.9907314847325325 ], [ 0.0, -0.9999999998 ], [ 0.989328876290211, -0.14569960376867355 ] ] }, { "task_id": "0001809", "id": "RH20T_cfg4_task_0023_user_0014_scene_0002_cfg_0004_038522062288#129", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001809/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9691117621927519, 0.24662196248440518 ], [ 0.15949756690575403, -0.9871983215905225 ], [ -0.9839431991740356, -0.17848187806935484 ], [ -0.20952908871623932, 0.9778024140091168 ] ] }, { "task_id": "0001810", "id": "RH20T_cfg4_task_0218_user_0010_scene_0001_cfg_0004_104122062823#138", "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 green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001810/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8233884384073571, 0.5674781753487036 ], [ 0.4628660298511436, -0.8864282477503975 ], [ -0.9075380446036128, -0.4199698770114959 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0001811", "id": "RH20T_cfg7_task_0004_user_0020_scene_0010_cfg_0007_104122064161#130", "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 under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001811/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9618226696934816, -0.273673440552246 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.1660614656992081, -0.9861154037990842 ], [ -0.9766834495835994, 0.2146845111075332 ] ] }, { "task_id": "0001812", "id": "RH20T_cfg6_task_0128_user_0014_scene_0005_cfg_0006_104122064161#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive from above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001812/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9984603531500278, -0.05547001961944599 ], [ -0.10814090045526444, -0.994135577096366 ], [ -0.9986875860690044, -0.05121626139874812 ], [ 0.06972166280927998, 0.9975664838671702 ] ] }, { "task_id": "0001813", "id": "RH20T_cfg1_task_0044_user_0016_scene_0009_cfg_0001_819112071037#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001813/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3846153845857988, 0.9230769230059171 ], [ 0.9545628782224685, -0.29800958293255714 ], [ -0.30616380023450857, -0.951978848203028 ], [ -0.9593126018774077, 0.28234612070860493 ] ] }, { "task_id": "0001814", "id": "RH20T_cfg3_task_0016_user_0010_scene_0003_cfg_0003_104122062823#138", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001814/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776600572683, 0.9486832980171804 ], [ 0.9654986405087316, 0.26040809352973504 ], [ 0.29563529574096914, -0.955300880305336 ], [ -0.9616714797194071, -0.2742042397452783 ] ] }, { "task_id": "0001815", "id": "RH20T_cfg1_task_0016_user_0008_scene_0001_cfg_0001_750612070853#69", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue by the pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001815/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0823734654185154, -0.9966015313027291 ], [ -0.9991643242362201, 0.04087362442428616 ], [ 0.9999999989999999, 0.0 ], [ 0.10694137474031276, 0.9942653279525804 ] ] }, { "task_id": "0001816", "id": "RH20T_cfg4_task_0124_user_0010_scene_0004_cfg_0004_038522062288#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the joystick to open the switch'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001816/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.27979394158520376, -0.9600600763765857 ], [ -0.9944859253164646, 0.10487013086410789 ], [ 0.07868350292639767, 0.996899647089531 ], [ 0.9748585065447146, -0.22282480149593478 ] ] }, { "task_id": "0001817", "id": "RH20T_cfg6_task_0032_user_0014_scene_0001_cfg_0006_104122064161#62", "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 to the covered state'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001817/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990128798572955, -0.044421457419056246 ], [ -0.06995356406512288, -0.9975502487968146 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.9895847303074081, 0.14395159444207106 ] ] }, { "task_id": "0001818", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'pick up the power cord on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001818/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.728316326714561, -0.685241073083779 ], [ -0.6603349028453219, 0.7509712485070645 ], [ 0.8468564514487322, 0.5318215402178265 ], [ 0.6507913733853803, -0.7592566022829437 ] ] }, { "task_id": "0001819", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#549", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'insert the power cord into the socket on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001819/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12266910600544517, 0.9924476260396944 ], [ 0.9963845250949671, -0.08495809644334622 ], [ -0.03184324080387009, -0.9994928754198835 ], [ -0.996545758162121, 0.08304547984684342 ] ] }, { "task_id": "0001820", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#613", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'insert the power cord into the socket on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001820/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08099767795324914, -0.9967142901384437 ], [ -0.9992552567824574, -0.03858667895304179 ], [ 0.9999999996666666, 0.0 ], [ -0.15217763135056855, 0.9883531598151192 ] ] }, { "task_id": "0001821", "id": "RH20T_cfg7_task_0022_user_0020_scene_0001_cfg_0007_104122064161#162", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001821/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.867528577998794, 0.4973873403650221 ], [ 0.4335015404524961, 0.9011528252329418 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.9012236651358017, -0.43335424931479855 ] ] }, { "task_id": "0001822", "id": "RH20T_cfg2_task_0096_user_0007_scene_0004_cfg_0002_105422061350#7", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001822/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9727936141280197, 0.2316734432595708 ], [ 0.356542223938975, -0.9342792101661311 ], [ -0.9611940386819777, -0.27587319551241074 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0001823", "id": "RH20T_cfg6_task_0052_user_0014_scene_0002_cfg_0006_104122064161#95", "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 green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001823/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9881148588468822, 0.15371735661923855 ], [ -0.11043152606874898, 0.9938837346187408 ], [ 0.0806880562421049, -0.9967394030436797 ], [ -0.9991042879122645, 0.04231574027861374 ] ] }, { "task_id": "0001824", "id": "RH20T_cfg2_task_0002_user_0013_scene_0004_cfg_0002_037522062165#248", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin from the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001824/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16813559516395254, -0.9857638772235792 ], [ -0.9765616806501325, -0.215237738061402 ], [ -0.3450641668958142, 0.9385790966799217 ], [ 0.9761870600780704, 0.21693045779512676 ] ] }, { "task_id": "0001826", "id": "RH20T_cfg1_task_0066_user_0014_scene_0002_cfg_0001_819112071037#219", "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 the purple 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001826/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9813066740379006, -0.19245054296798808 ], [ 0.19611613513391055, 0.9805806756695528 ], [ -0.19740819857010555, -0.9803213774764405 ], [ -0.9850743067684238, 0.17212963180321247 ] ] }, { "task_id": "0001827", "id": "RH20T_cfg2_task_0079_user_0007_scene_0003_cfg_0002_037522062165#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001827/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7916973354447188, -0.610913520107169 ], [ -0.7685552150279682, 0.6397834645044476 ], [ 0.7071067810198809, -0.7071067810198809 ], [ 0.6089164396662594, 0.7932343723668098 ] ] }, { "task_id": "0001828", "id": "RH20T_cfg5_task_0056_user_0010_scene_0007_cfg_0005_037522062165#267", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'receiving something handed over by a human', and now you are performing subtask 'pick up the object from the human'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001828/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3446394106092151, 0.9387351472353279 ], [ -0.9170700562166689, -0.39872611139855174 ], [ 0.8938784796157914, 0.4483093392734098 ], [ 0.3264257991887865, -0.9452228296142461 ] ] }, { "task_id": "0001829", "id": "RH20T_cfg5_task_0119_user_0007_scene_0010_cfg_0005_037522062165#304", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the handle of the water tap counterclockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001829/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993852049330006, 0.03506012209083723 ], [ -0.16439898727833027, 0.9863939236699816 ], [ 0.16219328889414283, -0.9867590065652815 ], [ -0.9492694699946899, -0.31446378700257455 ] ] }, { "task_id": "0001831", "id": "RH20T_cfg2_task_0070_user_0007_scene_0006_cfg_0002_037522062165#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pull the handle of the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001831/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.013925331027686526, -0.9999030378770581 ], [ -0.9953455598207287, -0.09637020569221712 ], [ 0.9999999989999999, 0.0 ], [ 0.018094110096157946, 0.9998362881891355 ] ] }, { "task_id": "0001832", "id": "RH20T_cfg5_task_0029_user_0010_scene_0001_cfg_0005_037522062165#210", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001832/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997495352742551, -0.022380051807601442 ], [ -0.0908653441270629, -0.9958631880116217 ], [ -0.9986743394914432, 0.051473912240374224 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0001833", "id": "RH20T_cfg5_task_0104_user_0007_scene_0005_cfg_0005_037522062165#201", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'push the plate to the position in front of 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001833/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7985773184627406, -0.6018922382261286 ], [ 0.7071067810865475, 0.7071067810865475 ], [ -0.7974213585421152, -0.6034228840049468 ], [ -0.6543758464300816, 0.7561694595848965 ] ] }, { "task_id": "0001834", "id": "RH20T_cfg2_task_0013_user_0006_scene_0005_cfg_0002_105422061350#295", "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 on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001834/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6393680097815752, 0.7689008701178245 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6017832486062129, -0.798659452894006 ], [ -0.6187643112197406, -0.7855766844559224 ] ] }, { "task_id": "0001835", "id": "RH20T_cfg2_task_0086_user_0014_scene_0002_cfg_0002_037522062165#21", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'twist the rotary dial clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001835/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9283416103379991, 0.3717281997845342 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.38173824662985956, -0.9242704750558468 ], [ -0.9848304801370094, -0.1735192363777214 ] ] }, { "task_id": "0001836", "id": "RH20T_cfg4_task_0217_user_0014_scene_0010_cfg_0004_038522062288#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder to the socket', and now you are performing subtask 'transfer the plug from the right side of the table to above 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001836/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955671884923007, 0.09405303396241688 ], [ 0.0, 0.9999999995 ], [ -0.11322387167853677, -0.9935695017874303 ], [ -0.9996854160885593, -0.025081245181292046 ] ] }, { "task_id": "0001837", "id": "RH20T_cfg6_task_0051_user_0014_scene_0007_cfg_0006_104122064161#164", "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 rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001837/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6945371627070689, -0.7194568295727094 ], [ -0.8302805714704773, 0.5573456491609652 ], [ 0.7439863121566381, 0.6681948573010462 ], [ 0.7682212794990152, -0.6401843995825127 ] ] }, { "task_id": "0001838", "id": "RH20T_cfg3_task_0046_user_0010_scene_0001_cfg_0003_038522062288#165", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001838/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.614220204915237, -0.7891346779060494 ], [ 0.8682431420167669, -0.4961389382952954 ], [ -0.9105246388765461, 0.41345481252337035 ], [ 0.37739776313641604, 0.9260512558058704 ] ] }, { "task_id": "0001839", "id": "RH20T_cfg4_task_0075_user_0007_scene_0009_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the white pawn from the left side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001839/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.945075611328469, 0.3268517842572081 ], [ -0.1961161350997225, 0.9805806754986125 ], [ 0.21930211935765956, -0.9756569993831022 ], [ -0.9422344359085788, -0.334954127886256 ] ] }, { "task_id": "0001840", "id": "RH20T_cfg6_task_0044_user_0020_scene_0008_cfg_0006_104122064161#187", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001840/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6323302560245196, 0.7746989397927208 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.750156531035355, -0.6612602959085043 ], [ -0.6410560330607326, -0.7674940797663764 ] ] }, { "task_id": "0001841", "id": "RH20T_cfg5_task_0011_user_0010_scene_0008_cfg_0005_104122063678#488", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the pink watering can 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001841/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0937881795058884, -0.9955921742284696 ], [ -0.9997899487098331, 0.02049532773071243 ], [ 0.9999999989999999, 0.0 ], [ 0.13830260810657033, 0.9903900184225003 ] ] }, { "task_id": "0001842", "id": "RH20T_cfg3_task_0033_user_0010_scene_0001_cfg_0003_104122062823#212", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp one small block to sweep the other small block into the specified position', and now you are performing subtask 'pick up the large square on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001842/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.019705348195377947, 0.9998058307754056 ], [ -0.9999999989999999, 0.0 ], [ 0.989407682699652, 0.14516348512937036 ], [ 0.0929963582711327, -0.9956664488413313 ] ] }, { "task_id": "0001843", "id": "RH20T_cfg4_task_0014_user_0007_scene_0003_cfg_0004_104122062823#147", "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 cube from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001843/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9410262689304504, 0.33833350585307936 ], [ 0.3614410370956632, -0.9323949681884879 ], [ -0.29408584881590144, 0.9557790086516798 ], [ -0.9440455863978885, -0.32981499481173837 ] ] }, { "task_id": "0001844", "id": "RH20T_cfg6_task_0019_user_0014_scene_0005_cfg_0006_104122064161#140", "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 stone from the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001844/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9640774040904307, -0.26562145794769015 ], [ -0.05112203744034587, 0.9986924137530774 ], [ 0.9556419517722403, 0.29453091520745855 ], [ 0.16439898727833027, -0.9863939236699816 ] ] }, { "task_id": "0001845", "id": "RH20T_cfg5_task_0001_user_0020_scene_0007_cfg_0005_104122063678#259", "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 red button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001845/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955229099733711, -0.09452055711934493 ], [ -0.005950125881589465, -0.9999822978443136 ], [ -0.9942341394387043, 0.1072309469070346 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001846", "id": "RH20T_cfg2_task_0056_user_0007_scene_0007_cfg_0002_105422061350#248", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toy car on the table', and now you are performing subtask 'put the small car 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001846/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10384346774597415, 0.9945936528082666 ], [ 0.9972882093155803, -0.07359502401741103 ], [ -0.9999999996666666, 0.0 ], [ 0.04976418051231558, -0.998760995603021 ] ] }, { "task_id": "0001847", "id": "RH20T_cfg4_task_0109_user_0015_scene_0008_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001847/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8094205354835428, -0.5872294242777137 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.5089402648710445, -0.8608018394456364 ], [ -0.839875215331492, 0.542779534131382 ] ] }, { "task_id": "0001848", "id": "RH20T_cfg5_task_0122_user_0007_scene_0008_cfg_0005_104122063678#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001848/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9990331272858136, -0.04396374171436401 ], [ 0.08948212897989553, 0.9959884279414222 ], [ 0.9993430099190069, -0.036242910010367446 ] ] }, { "task_id": "0001849", "id": "RH20T_cfg6_task_0032_user_0020_scene_0001_cfg_0006_104122064161#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the lid of the pink box on the box', and now you are performing subtask 'push the lid of the pink box onto the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001849/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9990274899716115, -0.04409165772594283 ], [ 0.051727431919461254, -0.998661240254681 ], [ -0.999711069528683, -0.02403700193070698 ] ] }, { "task_id": "0001850", "id": "RH20T_cfg3_task_0054_user_0010_scene_0009_cfg_0003_036422060909#241", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the object on the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001850/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.823994231258375, -0.5665981881835837 ], [ -0.4334425118289106, -0.9011812187010141 ], [ -0.95191353406266, 0.3063668122828208 ] ] }, { "task_id": "0001851", "id": "RH20T_cfg2_task_0204_user_0007_scene_0010_cfg_0002_105422061350#57", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Transfer all large pipette tips from one holder to another holder for large pipette tips', and now you are performing subtask 'pick up the large pipette tip from the left side rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001851/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7979667400164083, 0.6027014864985698 ], [ 0.7328800176599408, -0.6803579056017245 ], [ -0.6121978995387849, -0.7907045793469897 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0001852", "id": "RH20T_cfg7_task_0062_user_0014_scene_0002_cfg_0007_104122064161#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toilet paper on the holder', and now you are performing subtask 'pick up the roll of paper from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001852/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9081037969509893, -0.4187451420174286 ], [ -0.40244188366060607, -0.9154455364879459 ], [ 0.37139067631962097, 0.9284766907990525 ], [ -0.974908120969173, 0.22260762715674517 ] ] }, { "task_id": "0001853", "id": "RH20T_cfg5_task_0062_user_0007_scene_0002_cfg_0005_104122063678#275", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001853/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8255167192056094, -0.56437766283935 ], [ -0.3533879029083316, -0.9354768784304889 ], [ -0.9480876083912252, 0.3180092558637354 ] ] }, { "task_id": "0001854", "id": "RH20T_cfg6_task_0044_user_0020_scene_0009_cfg_0006_104122064161#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001854/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.942424469312934, 0.33441907786523617 ], [ 0.30385740811376366, -0.9527175213747178 ], [ -0.9518873247150084, -0.30644823550952976 ] ] }, { "task_id": "0001855", "id": "RH20T_cfg3_task_0092_user_0010_scene_0010_cfg_0003_104122062823#135", "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 the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001855/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9963705283368242, 0.08512209032793978 ], [ -0.028732521983288812, -0.9995871358618417 ], [ -0.9996490101577648, 0.02649257425395448 ], [ -0.11684124756057127, 0.9931506042648557 ] ] }, { "task_id": "0001856", "id": "RH20T_cfg2_task_0013_user_0006_scene_0009_cfg_0002_037522062165#224", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the ball on the scale', and now you are performing subtask 'pick up the ball from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001856/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.07821394682705989, -0.9969365970420254 ], [ -0.9957328610440279, -0.09228255218119336 ], [ -0.14531137612100736, 0.9893859732024803 ] ] }, { "task_id": "0001857", "id": "RH20T_cfg4_task_0089_user_0007_scene_0004_cfg_0004_038522062288#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the box on the table to the left and avoid obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001857/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.975517273350325, -0.21992282599845683 ], [ -0.17754218956174986, 0.9841131900983848 ], [ 0.16439898727833027, -0.9863939236699816 ], [ 0.950792433118864, 0.3098285802244699 ] ] }, { "task_id": "0001858", "id": "RH20T_cfg3_task_0021_user_0011_scene_0009_cfg_0003_104122062823#144", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001858/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1610144781688847, -0.9869520443365026 ], [ 0.9922778765905907, 0.12403473457382384 ], [ -0.9844365599556423, -0.17574031814783156 ], [ -0.19919365409977974, 0.9799601462132923 ] ] }, { "task_id": "0001859", "id": "RH20T_cfg1_task_0011_user_0008_scene_0008_cfg_0001_750612070853#258", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001859/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7310552682072395, 0.6823182503267569 ], [ 0.7422929411170064, 0.6700755103477999 ], [ 0.6431989440044754, -0.7656991043690254 ], [ -0.571327364189632, -0.8207222690582531 ] ] }, { "task_id": "0001860", "id": "RH20T_cfg4_task_0064_user_0015_scene_0007_cfg_0004_104122062823#80", "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 'pull the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001860/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8848755553869343, -0.46582749111518157 ], [ -0.4296465871734993, -0.9029971263133482 ], [ 0.5144957553834089, 0.8574929256390147 ], [ -0.8331839183111945, 0.5529959839525102 ] ] }, { "task_id": "0001861", "id": "RH20T_cfg3_task_0049_user_0010_scene_0010_cfg_0003_038522062288#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 90 degrees counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001861/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6097107608125176, 0.7926239890562728 ], [ 0.8577073682256366, -0.5141381822929048 ], [ -0.6367623724927224, -0.7710601020526479 ], [ -0.7539145406877544, 0.6569724996828804 ] ] }, { "task_id": "0001862", "id": "RH20T_cfg4_task_0035_user_0017_scene_0007_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up one small block', and now you are performing subtask 'pick up a small piece 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001862/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40725399129792367, -0.9133149438019235 ], [ 0.8725060159192694, 0.48860336891479084 ], [ -0.8267523035723059, -0.5625661103709374 ], [ -0.38850883539048675, 0.9214449982627979 ] ] }, { "task_id": "0001863", "id": "RH20T_cfg7_task_0035_user_0020_scene_0002_cfg_0007_104122064161#102", "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 square 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001863/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.45085690093695485, -0.8925962440417979 ], [ 0.8574929255654853, 0.5144957553392911 ], [ -0.836641390000402, -0.5477510242237754 ], [ -0.39848224288926215, 0.9171760474968496 ] ] }, { "task_id": "0001864", "id": "RH20T_cfg2_task_0002_user_0007_scene_0008_cfg_0002_037522062165#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin, place it on the table', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001864/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6497725070267824, -0.7601287319343548 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.761830735041293, -0.6477761427734455 ], [ -0.6537848519319186, 0.7566804922715792 ] ] }, { "task_id": "0001865", "id": "RH20T_cfg4_task_0064_user_0015_scene_0001_cfg_0004_104122062823#131", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001865/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6464986162704643, 0.7629151585598328 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.6447091801610022, 0.7644279384063146 ], [ 0.7076385790022998, -0.7065745831174555 ] ] }, { "task_id": "0001866", "id": "RH20T_cfg6_task_0045_user_0014_scene_0010_cfg_0006_104122064161#191", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001866/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6585046078065712, 0.7525766946360813 ], [ 0.6531588333015726, 0.7572209310895524 ], [ 0.7407394540096021, -0.6717924242454337 ], [ -0.7725951925836445, -0.634898943452138 ] ] }, { "task_id": "0001867", "id": "RH20T_cfg6_task_0044_user_0014_scene_0005_cfg_0006_104122064161#362", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001867/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9565136354134006, 0.2916876158979676 ], [ 0.3248572098687174, -0.9457630745574244 ], [ -0.9568490460996066, -0.2905854486691871 ], [ -0.38074980523358476, 0.9246780984244202 ] ] }, { "task_id": "0001868", "id": "RH20T_cfg2_task_0013_user_0003_scene_0003_cfg_0002_037522062165#225", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001868/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ 0.12998579949800074, -0.9915158556114297 ], [ -0.9981285887767931, 0.06114998173709778 ], [ 0.11811264658193428, 0.993000202778132 ] ] }, { "task_id": "0001869", "id": "RH20T_cfg7_task_0051_user_0014_scene_0006_cfg_0007_104122064161#119", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001869/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6807431880268153, -0.7325221579959804 ], [ 0.7682212794990152, -0.6401843995825127 ], [ -0.7285506778983066, 0.6849919048674357 ], [ 0.618616434178057, 0.7856931381683474 ] ] }, { "task_id": "0001870", "id": "RH20T_cfg7_task_0066_user_0020_scene_0002_cfg_0007_104122064161#94", "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 the light blue block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001870/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930586021654717, -0.11762063027020078 ], [ -0.36203931576863, -0.9321628258184201 ], [ 0.21693045779512676, 0.9761870600780704 ], [ -0.9807596963344501, 0.19521889776852358 ] ] }, { "task_id": "0001871", "id": "RH20T_cfg3_task_0010_user_0010_scene_0005_cfg_0003_038522062288#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the handset of the telephone on the corresponding telephone 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001871/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11043152606265141, 0.9938837345638627 ], [ 0.9993851042633936, 0.03506299155015182 ], [ 0.010432413648532571, -0.9999455808920134 ], [ -0.9752298306658828, -0.2211939813362784 ] ] }, { "task_id": "0001873", "id": "RH20T_cfg4_task_0092_user_0015_scene_0008_cfg_0004_104122062823#97", "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 the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001873/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.21158595493484955, -0.9773593933013116 ], [ 0.9520285612528944, 0.306009180402716 ], [ -0.9021424180883755, -0.4314383588482355 ], [ -0.3422743250933926, 0.9396000672530109 ] ] }, { "task_id": "0001874", "id": "RH20T_cfg1_task_0004_user_0004_scene_0005_cfg_0001_039422060546#253", "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 'transfer the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001874/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05054256895620392, -0.9987219076015642 ], [ -0.999937434131024, -0.011186054865953723 ], [ 0.021336128653237352, 0.9997723588968104 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0001875", "id": "RH20T_cfg7_task_0007_user_0014_scene_0008_cfg_0007_104122064161#110", "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 the left side of the table to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001875/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06839172974866949, 0.997658544443932 ], [ 0.9974042780046997, -0.07200490412412103 ], [ -0.9999999996666666, 0.0 ], [ 0.1428743317607368, -0.9897408374538877 ] ] }, { "task_id": "0001876", "id": "RH20T_cfg4_task_0120_user_0007_scene_0001_cfg_0004_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing the light bulb by rotating it', and now you are performing subtask 'pick up the light bulb from the blanket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001876/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7063260642078208, -0.707886637125387 ], [ 0.7071067810865475, -0.7071067810865475 ], [ -0.6060047263604557, 0.7954610434388282 ], [ 0.6975405479634728, 0.7165453118587953 ] ] }, { "task_id": "0001877", "id": "RH20T_cfg7_task_0016_user_0020_scene_0001_cfg_0007_104122064161#175", "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 pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001877/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9913426674566492, 0.13130009779103496 ], [ -0.12590728742179316, -0.9920420127061585 ], [ -0.9988780682610363, 0.04735614793351211 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0001879", "id": "RH20T_cfg4_task_0038_user_0014_scene_0001_cfg_0004_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the red cup', and now you are performing subtask 'pick up the red cup on the pile of cups'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001879/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9817448709958547, -0.19020254539130832 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.15887240106764164, -0.9872991239634533 ], [ -0.9475069038267773, 0.3197353080293047 ] ] }, { "task_id": "0001880", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#162", "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 wooden block in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001880/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.751437491661084, -0.6598042862289533 ], [ -0.6221983809035908, -0.782859613724549 ], [ -0.6580463246311621, 0.7529774463019588 ] ] }, { "task_id": "0001881", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#324", "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 wooden block in 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001881/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6200960095247368, 0.7845259326316101 ], [ 0.6155036566621152, -0.7881340296139768 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.71920242914931, -0.6948005943475666 ] ] }, { "task_id": "0001882", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#626", "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 wooden block in the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001882/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.79999999984, -0.59999999988 ], [ -0.7168738917595391, -0.6972028566447017 ], [ -0.7597322260195193, 0.6502360684762313 ], [ 0.6156730066266056, 0.7880017442311634 ] ] }, { "task_id": "0001883", "id": "RH20T_cfg5_task_0201_user_0007_scene_0007_cfg_0005_104122063678#295", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001883/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.01596103815951892, 0.9998726145169046 ], [ 0.9999412444933355, -0.01084009045714998 ], [ -0.9999999995, 0.0 ], [ 0.13530334986138678, -0.9908042205785598 ] ] }, { "task_id": "0001884", "id": "RH20T_cfg1_task_0122_user_0010_scene_0009_cfg_0001_819112071037#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001884/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5413550483688004, -0.8407940958436934 ], [ 0.8574929255654853, 0.5144957553392911 ], [ -0.7782199023197459, -0.627991865897517 ], [ -0.6016044978329661, 0.7987941087584114 ] ] }, { "task_id": "0001885", "id": "RH20T_cfg7_task_0001_user_0014_scene_0001_cfg_0007_104122064161#61", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button', and now you are performing subtask 'press the green button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001885/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7999609061860101, -0.6000521215478347 ], [ -0.6421210634962348, 0.7666032479806386 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.7211597548738714, 0.6927687983376978 ] ] }, { "task_id": "0001887", "id": "RH20T_cfg2_task_0001_user_0003_scene_0004_cfg_0002_104122061850#266", "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 colorful block 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001887/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.642915152791639, -0.7659374036505225 ], [ -0.8090743519855034, -0.5877062982130088 ], [ -0.6442474338343945, 0.7648171310828473 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0001888", "id": "RH20T_cfg4_task_0015_user_0010_scene_0010_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the drumsticks onto the drum', and now you are performing subtask 'pick up the drumstick 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001888/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9897946762346801, -0.1425008733218323 ], [ 0.0, 0.99999999975 ], [ -0.03942754277568254, -0.9992224321294392 ], [ -0.9960705828316301, 0.08856293817086658 ] ] }, { "task_id": "0001889", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#92", "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 wooden block from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001889/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1248054160941209, -0.9921812375335332 ], [ 0.9999999989999999, 0.0 ], [ -0.9998390902404765, -0.017938607167127245 ], [ -0.04483338410593142, 0.9989944782978583 ] ] }, { "task_id": "0001890", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#137", "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 wooden block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001890/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.145202265276476, 0.989401992194568 ], [ -0.9999999989999999, 0.0 ], [ 0.9987097705159534, 0.05078183017548516 ], [ -0.023122446719738683, -0.9997326404882922 ] ] }, { "task_id": "0001891", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#208", "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 Rubik's cube 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001891/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9823765362803203, 0.18691265598102402 ], [ -0.16439898727833027, -0.9863939236699816 ], [ 0.05995798784766968, 0.998200901468867 ], [ 0.9645187761346994, -0.2640142618943562 ] ] }, { "task_id": "0001892", "id": "RH20T_cfg5_task_0080_user_0007_scene_0004_cfg_0005_104122063678#412", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001892/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981769090209027, -0.06035609577728317 ], [ -0.1546780316306196, -0.9879649318325409 ], [ 0.0, 0.9999999989999999 ], [ -0.9954098043920915, 0.09570434326663735 ] ] }, { "task_id": "0001893", "id": "RH20T_cfg6_task_0051_user_0014_scene_0003_cfg_0006_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the dish off the dish rack and place it on another dish', and now you are performing subtask 'pick up the dish from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001893/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.552999146511278, -0.8331818192674382 ], [ -0.8810599438917878, -0.47300462499789564 ], [ -0.5326916337862994, 0.8463094134500001 ], [ 0.8944271907999158, 0.4472135953999579 ] ] }, { "task_id": "0001894", "id": "RH20T_cfg4_task_0102_user_0014_scene_0019_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001894/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999444444 ], [ 0.9891045536731664, -0.14721474757308212 ], [ 0.12627608828202586, -0.9919951358389768 ], [ -0.9885529023881722, -0.1508746472404193 ] ] }, { "task_id": "0001895", "id": "RH20T_cfg4_task_0020_user_0014_scene_0001_cfg_0004_104122062823#52", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001895/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999375, 0.0 ], [ 0.12288752070189912, -0.9924206050136909 ], [ -0.9887122472852959, -0.14982687365109076 ], [ 0.09940012070938144, 0.9950475445942071 ] ] }, { "task_id": "0001896", "id": "RH20T_cfg6_task_0009_user_0014_scene_0009_cfg_0006_104122064161#53", "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 shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001896/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12663188675526557, 0.9919497795829136 ], [ 0.9996500390289736, 0.026453723166529115 ], [ 0.18773513483409823, -0.9822196898600756 ], [ -0.9994994148261009, -0.03163731597784346 ] ] }, { "task_id": "0001897", "id": "RH20T_cfg6_task_0126_user_0014_scene_0003_cfg_0006_104122064161#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the plug into the socket', and now you are performing subtask 'pick up the plug on the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001897/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7822047554019753, -0.6230214447565479 ], [ -0.5650729693732637, -0.8250409318837961 ], [ -0.7988363887463564, 0.6015483555082503 ], [ 0.6401843995825127, 0.7682212794990152 ] ] }, { "task_id": "0001898", "id": "RH20T_cfg3_task_0017_user_0011_scene_0007_cfg_0003_036422060909#213", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001898/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4969609276273883, -0.8677729175376042 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.8602231214412885, 0.5099178182195699 ], [ 0.5636267900994408, 0.826029564532772 ] ] }, { "task_id": "0001900", "id": "RH20T_cfg5_task_0056_user_0010_scene_0009_cfg_0005_104122063678#238", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'receive something handed over by a human', and now you are performing subtask 'pick up an object from a human hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001900/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9517451088855599, -0.30688963441669664 ], [ -0.383663215043327, -0.9234730842978685 ], [ 0.3417430630575073, 0.939793423408145 ], [ -0.966194202586509, 0.2578153658884976 ] ] }, { "task_id": "0001902", "id": "RH20T_cfg6_task_0012_user_0014_scene_0003_cfg_0006_104122064161#57", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001902/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9902974891411346, -0.13896360315120107 ], [ 0.0, -0.9999999989999999 ], [ -0.13144418729101184, 0.9913235726176421 ], [ 0.9996962287818438, -0.02464650399872993 ] ] }, { "task_id": "0001903", "id": "RH20T_cfg4_task_0029_user_0016_scene_0010_cfg_0004_104122062823#79", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001903/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8217898253508745, -0.5697907361038604 ], [ 0.48564293113146223, 0.8741572760366321 ], [ -0.4130799212650327, -0.9106947779841907 ], [ -0.7909534813111788, 0.611876286843776 ] ] }, { "task_id": "0001904", "id": "RH20T_cfg4_task_0062_user_0015_scene_0006_cfg_0004_104122062823#170", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001904/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5369697345333, -0.8436015079379822 ], [ -0.7316843435211432, -0.6816436176228997 ], [ -0.4990853524624909, 0.8665528321789683 ], [ 0.8137334711121403, 0.5812381936515288 ] ] }, { "task_id": "0001905", "id": "RH20T_cfg5_task_0104_user_0007_scene_0003_cfg_0005_037522062165#317", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'pick up the plate on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001905/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9768393995500344, 0.21397380093536741 ], [ 0.23188996634360895, 0.9727420231023023 ], [ 0.9839263494789295, -0.17857474289794564 ], [ -0.12403473458151616, -0.9922778766521293 ] ] }, { "task_id": "0001906", "id": "RH20T_cfg7_task_0001_user_0020_scene_0007_cfg_0007_104122064161#88", "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 red button 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001906/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7115223622536225, -0.702663452879844 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.5956187218953635, -0.8032672893425536 ], [ -0.5915183905897528, 0.8062915065868602 ] ] }, { "task_id": "0001907", "id": "RH20T_cfg4_task_0017_user_0016_scene_0006_cfg_0004_104122062823#107", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001907/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7767114278544688, 0.629856616890124 ], [ -0.7071067811151189, 0.7071067811151189 ], [ 0.7949638106613705, -0.6066568550166996 ], [ -0.7752643047626648, -0.6316369667466131 ] ] }, { "task_id": "0001908", "id": "RH20T_cfg7_task_0033_user_0020_scene_0005_cfg_0007_104122064161#146", "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 'pick up a 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001908/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8420748582172053, -0.5393606707561034 ], [ -0.47195636358549653, -0.881621909250873 ], [ -0.8831356427106419, 0.4691177214453335 ], [ 0.5812381936515288, 0.8137334711121403 ] ] }, { "task_id": "0001909", "id": "RH20T_cfg5_task_0032_user_0010_scene_0009_cfg_0005_104122063678#312", "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 shell onto the gift 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001909/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9415508615210315, 0.33687085829588087 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.3356152748133984, -0.9419991440080651 ], [ -0.9479388703665241, -0.3184523481594038 ] ] }, { "task_id": "0001910", "id": "RH20T_cfg4_task_0066_user_0007_scene_0001_cfg_0004_104122062823#190", "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 the large yellow block from the right 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001910/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7193961217619237, 0.6946000431859355 ], [ 0.6760155499545707, -0.7368873565339681 ], [ -0.8081125064331638, -0.5890281631181228 ], [ -0.59999999994, 0.79999999992 ] ] }, { "task_id": "0001911", "id": "RH20T_cfg7_task_0062_user_0020_scene_0008_cfg_0007_104122064161#135", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001911/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9963587415605414, -0.08525994438125284 ], [ 0.0, 0.9999999996666666 ], [ 0.1540396691655523, -0.9880646640394378 ], [ -0.9994711336357808, 0.032518502868480285 ] ] }, { "task_id": "0001912", "id": "RH20T_cfg4_task_0063_user_0015_scene_0009_cfg_0004_104122062823#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001912/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9978013741073921, -0.06627531840285728 ], [ -0.07669649887885469, 0.9970544854251109 ], [ 0.11131009833823922, -0.9937857223808015 ], [ -0.9830530872965751, -0.18332110504977975 ] ] }, { "task_id": "0001913", "id": "RH20T_cfg4_task_0092_user_0007_scene_0001_cfg_0004_104122062823#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001913/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7893522173417109, 0.6139406134879974 ], [ 0.5160849654913583, -0.8565373946266348 ], [ -0.7591188437885136, -0.6509520573784143 ], [ -0.7202461480629235, 0.6937185929471121 ] ] }, { "task_id": "0001914", "id": "RH20T_cfg5_task_0023_user_0010_scene_0001_cfg_0005_104122063678#334", "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 board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001914/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.0052061255859368015, 0.9999864480363639 ], [ 0.9935286839429074, -0.11358148697157723 ], [ -0.02531432174730897, -0.999679541210319 ] ] }, { "task_id": "0001915", "id": "RH20T_cfg2_task_0046_user_0007_scene_0009_cfg_0002_037522062165#320", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001915/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979005138, 0.31622776596683794 ], [ 0.3272946127485687, -0.9449223441456787 ], [ -0.9856015175737858, -0.16908473779809513 ], [ -0.38000919838565667, 0.924982707482843 ] ] }, { "task_id": "0001916", "id": "RH20T_cfg6_task_0006_user_0014_scene_0006_cfg_0006_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from right to left with the gripper', and now you are performing subtask 'push the block from the right side of the table to the left side 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001916/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9492505747691437, -0.314520820138271 ], [ 0.16439898729860053, 0.9863939237916033 ], [ -0.11120335497511015, -0.9937976724878559 ], [ -0.9597151562526713, 0.2809747655198075 ] ] }, { "task_id": "0001917", "id": "RH20T_cfg2_task_0010_user_0003_scene_0008_cfg_0002_104122061850#229", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001917/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.9848757134475019, 0.17326231287061286 ], [ 0.3607914112051234, -0.9326465341170874 ], [ -0.9633628902304258, -0.26820130821247085 ] ] }, { "task_id": "0001918", "id": "RH20T_cfg6_task_0046_user_0014_scene_0003_cfg_0006_104122064161#204", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001918/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9362155089572184, -0.35142640877995557 ], [ -0.16776558572765277, -0.9858269159672288 ], [ 0.31622776599683794, 0.9486832979905138 ], [ -0.9566359138457285, 0.2912863339405883 ] ] }, { "task_id": "0001919", "id": "RH20T_cfg3_task_0029_user_0011_scene_0008_cfg_0003_104122062823#161", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer', and now you are performing subtask 'pull the handle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001919/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.21607517157998776, 0.9763767306868179 ], [ 0.9938397482249417, 0.11082668833897538 ], [ 0.10194631749063622, -0.9947899016124452 ], [ -0.9977851577902372, -0.06651901051934915 ] ] }, { "task_id": "0001920", "id": "RH20T_cfg7_task_0008_user_0020_scene_0001_cfg_0007_104122064161#109", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001920/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902399690476105, 0.13937289442566475 ], [ 0.011070235374749318, -0.9999387230669426 ], [ -0.996027868841455, -0.08904203777514036 ], [ 0.0, 0.9999999998888889 ] ] }, { "task_id": "0001921", "id": "RH20T_cfg7_task_0053_user_0014_scene_0001_cfg_0007_104122064161#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the red clamp from the white plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001921/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9976463522502907, 0.06856935059987711 ], [ -0.09604843557870044, -0.9953766613814512 ], [ -0.9977739684798963, 0.06668663902071365 ] ] }, { "task_id": "0001922", "id": "RH20T_cfg7_task_0066_user_0020_scene_0001_cfg_0007_104122064161#123", "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 the blue block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001922/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9163222664017207, -0.4004416363172219 ], [ -0.6365986153814037, -0.7711953078789313 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.9204013170876049, 0.3909749550845965 ] ] }, { "task_id": "0001923", "id": "RH20T_cfg3_task_0061_user_0010_scene_0002_cfg_0003_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take two cubes out of the box and stack them on the table', and now you are performing subtask 'pick up a cube from the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001923/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9866341833542894, -0.16295087675988262 ], [ -0.07590476172171665, -0.9971150721696918 ], [ -0.9915968317675787, -0.1293666233172232 ], [ 0.025632600791893775, 0.9996714308838571 ] ] }, { "task_id": "0001924", "id": "RH20T_cfg3_task_0061_user_0010_scene_0002_cfg_0003_104122062823#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take two cubes out of the box and stack them on the table', and now you are performing subtask 'place the cube on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001924/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2930020108402816, -0.9561118248472347 ], [ -0.9580161628744855, -0.2867141985867584 ], [ -0.3021769029262799, 0.9532518656356681 ], [ 0.9702485218278132, 0.24211114367361036 ] ] }, { "task_id": "0001925", "id": "RH20T_cfg2_task_0091_user_0007_scene_0002_cfg_0002_037522062165#228", "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 from the pink 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001925/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.30686337908175626, -0.9517535745026263 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.981072838000487, -0.19363906253044688 ], [ -0.2824345756125317, 0.9592865632846992 ] ] }, { "task_id": "0001926", "id": "RH20T_cfg7_task_0062_user_0020_scene_0001_cfg_0007_104122064161#125", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001926/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.8667234752138615, 0.49878895087321934 ], [ 0.3143542918135043, -0.9493057353763487 ], [ -0.8299755995254622, -0.5577996989891172 ] ] }, { "task_id": "0001927", "id": "RH20T_cfg6_task_0046_user_0020_scene_0009_cfg_0006_104122063633#443", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001927/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.1069649017968715, -0.9942627971434844 ], [ -0.9929780403797881, 0.11829882215608085 ], [ 0.06349488930274741, 0.997982163684518 ] ] }, { "task_id": "0001928", "id": "RH20T_cfg2_task_0017_user_0003_scene_0008_cfg_0002_037522062165#178", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001928/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9896943806899497, 0.14319578496148805 ], [ 0.0, 0.9999999989999999 ], [ -0.046481863440724976, -0.9989191340499379 ], [ -0.9994841841076245, -0.032114883134090486 ] ] }, { "task_id": "0001929", "id": "RH20T_cfg5_task_0048_user_0010_scene_0001_cfg_0005_104122063678#227", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001929/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.45894236655825293, 0.8884660399688389 ], [ -0.8944271907999158, 0.4472135953999579 ], [ 0.9484340417230446, -0.31697455497388133 ], [ -0.4629898429972763, -0.886363585263608 ] ] }, { "task_id": "0001930", "id": "RH20T_cfg3_task_0013_user_0011_scene_0005_cfg_0003_038522062288#123", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001930/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9443339608165644, 0.32898840473259755 ], [ 0.21127366521226537, -0.9774269478522555 ], [ -0.9690908429367435, -0.2467041510314572 ], [ -0.2248595066819045, 0.9743911956215862 ] ] }, { "task_id": "0001931", "id": "RH20T_cfg1_task_0060_user_0001_scene_0002_cfg_0001_750612070853#239", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'adjust the volume of the speaker by turning the knob', and now you are performing subtask 'turn the knob counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001931/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.14250477408227644, -0.989794114633826 ], [ -0.9992824335238312, 0.03787635213018903 ], [ 0.0016275491247559485, 0.9999986755410462 ] ] }, { "task_id": "0001932", "id": "RH20T_cfg1_task_0026_user_0001_scene_0007_cfg_0001_039422060546#84", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001932/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8717613235418509, -0.4899308061109858 ], [ 0.35112344154729586, -0.9363291774594555 ], [ -0.3679201544567237, 0.9298573868849678 ], [ 0.8759568016623565, 0.4823895538063145 ] ] }, { "task_id": "0001933", "id": "RH20T_cfg4_task_0011_user_0010_scene_0003_cfg_0004_104122062823#176", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001933/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5285979078244767, 0.8488723413114518 ], [ 0.7640244711682239, -0.6451872654168833 ], [ -0.4631701017770086, -0.8862694041993526 ], [ -0.8320502942801514, 0.5547001961867676 ] ] }, { "task_id": "0001934", "id": "RH20T_cfg6_task_0043_user_0014_scene_0001_cfg_0006_104122064161#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrew the lid from the jar', and now you are performing subtask 'rotate the lid of the jar counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001934/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9698710455058824, 0.2436188726049904 ], [ 0.26189036355423456, -0.9650976310599 ], [ -0.9746594734609617, -0.22369378800673242 ], [ -0.31622776596683794, 0.9486832979005138 ] ] }, { "task_id": "0001936", "id": "RH20T_cfg4_task_0019_user_0016_scene_0008_cfg_0004_104122062823#416", "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 bowl on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001936/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, -0.4472135952999579 ], [ -0.43403023835401444, -0.9008983029145728 ], [ -0.9139261389016197, 0.4058805398542499 ], [ 0.5550805471633771, 0.8317966014361962 ] ] }, { "task_id": "0001937", "id": "RH20T_cfg3_task_0029_user_0010_scene_0003_cfg_0003_038522062288#240", "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 open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001937/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.9011570994635751, -0.4334926551700686 ], [ -0.49608609556841077, -0.8682733358705021 ], [ -0.8341257605039627, 0.5515743065659294 ] ] }, { "task_id": "0001938", "id": "RH20T_cfg1_task_0009_user_0014_scene_0006_cfg_0001_750612070853#144", "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 a Hanoi block in front of the robot arm'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001938/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9964980286304084, 0.08361625999594732 ], [ 0.020432626754148794, -0.9997912320899427 ], [ -0.9774898114487202, -0.21098262609500676 ], [ -0.1414213562173095, 0.9899494935211665 ] ] }, { "task_id": "0001939", "id": "RH20T_cfg3_task_0006_user_0016_scene_0008_cfg_0003_104122062823#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from the right to the left', and now you are performing subtask 'push the small block from the right to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001939/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38206080086716276, -0.9241371891882408 ], [ -0.9090631264058299, -0.4166584119026739 ], [ -0.3632829007318927, 0.93167887924747 ], [ 0.9010016697290331, 0.4338156187584233 ] ] }, { "task_id": "0001940", "id": "RH20T_cfg4_task_0107_user_0007_scene_0018_cfg_0004_038522062288#52", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001940/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0936310500412297, -0.9956069638507842 ], [ 0.9999999998333333, 0.0 ], [ -0.9994634218908921, -0.03275466840236012 ], [ -0.14807257850774627, 0.9889764969371454 ] ] }, { "task_id": "0001941", "id": "RH20T_cfg5_task_0050_user_0007_scene_0009_cfg_0005_037522062165#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001941/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979505138, 0.3162277659835046 ], [ 0.31558214132393464, -0.9488982622375279 ], [ -0.9032559789082665, -0.4291021283639471 ], [ -0.29223103247504073, 0.9563477524721704 ] ] }, { "task_id": "0001942", "id": "RH20T_cfg6_task_0016_user_0014_scene_0010_cfg_0006_104122061330#215", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001942/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7047226571068027, 0.7094828937756905 ], [ 0.8055530929216526, -0.5925235982510396 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.5928937096093112, -0.8052807268932429 ] ] }, { "task_id": "0001943", "id": "RH20T_cfg4_task_0017_user_0016_scene_0005_cfg_0004_104122062823#144", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001943/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9964597734700926, -0.08407092158369374 ], [ 0.0, 0.9999999989999999 ], [ -0.05693975818265347, -0.998377615903973 ], [ -0.994183976109963, 0.1076950400259202 ] ] }, { "task_id": "0001944", "id": "RH20T_cfg4_task_0103_user_0014_scene_0011_cfg_0004_104122062823#133", "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 'pull the plate to 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001944/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7420861365553333, -0.6703045322332076 ], [ 0.628337107068821, 0.777941180180445 ], [ -0.5249865465629239, -0.8511105250952634 ], [ -0.6798343431766074, 0.7333657108412085 ] ] }, { "task_id": "0001945", "id": "RH20T_cfg3_task_0059_user_0010_scene_0008_cfg_0003_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'turn the knob counterclockwise to increase the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001945/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8065723050457344, 0.5911354470281839 ], [ -0.6585046078065712, 0.7525766946360813 ], [ 0.6136775911096226, -0.789556720046059 ], [ -0.7620717751042773, -0.6474925556247082 ] ] }, { "task_id": "0001946", "id": "RH20T_cfg2_task_0033_user_0003_scene_0009_cfg_0002_037522062165#209", "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 'pick up the cube on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001946/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05606430963894442, 0.9984271596790166 ], [ 0.9991767053487876, -0.04056983470932852 ], [ -0.9899494935211665, 0.1414213562173095 ], [ 0.008456545254097983, -0.9999642427818933 ] ] }, { "task_id": "0001947", "id": "RH20T_cfg4_task_0068_user_0007_scene_0010_cfg_0004_038522062288#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the button on the box to the left, adjust to avoid the obstacle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001947/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9648546535356456, -0.26278412728056744 ], [ -0.3297026050039249, -0.9440848437792155 ], [ 0.3643993485657581, 0.9312427796680486 ], [ -0.9551007985365125, 0.296281056827662 ] ] }, { "task_id": "0001948", "id": "RH20T_cfg1_task_0004_user_0004_scene_0008_cfg_0001_039422060546#537", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001948/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.993932509052044, 0.10999166990962778 ], [ 0.0, 0.9999999995 ], [ -0.00568116327631454, -0.9999838620616974 ], [ -0.9984602838938735, -0.05547126721615013 ] ] }, { "task_id": "0001949", "id": "RH20T_cfg7_task_0013_user_0014_scene_0005_cfg_0007_104122064161#91", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001949/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999333333 ], [ 0.9998911597493698, -0.01475359803777787 ], [ -0.09927601982845044, -0.9950599338165622 ], [ -0.999746137436833, -0.02253132663943904 ] ] }, { "task_id": "0001950", "id": "RH20T_cfg7_task_0017_user_0014_scene_0005_cfg_0007_104122064161#87", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001950/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.29408584881590144, 0.9557790086516798 ], [ 0.9012392698064361, -0.4333217956193316 ], [ -0.23867042281921802, -0.971100627778242 ], [ -0.9691054957242535, 0.24664658553697616 ] ] }, { "task_id": "0001951", "id": "RH20T_cfg6_task_0001_user_0014_scene_0005_cfg_0006_104122064161#78", "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 red 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001951/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8818070909485045, -0.4716102780399681 ], [ -0.4727664662071042, -0.8811877600319055 ], [ -0.8858307568979753, 0.4640084806698691 ], [ 0.5766831975709417, 0.8169678632255006 ] ] }, { "task_id": "0001952", "id": "RH20T_cfg2_task_0084_user_0007_scene_0010_cfg_0002_037522062165#281", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001952/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9226849930230449, 0.3855546701183423 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.26642424909290485, -0.9638558603314512 ], [ -0.9264928995476974, -0.37631224679473363 ] ] }, { "task_id": "0001953", "id": "RH20T_cfg6_task_0044_user_0014_scene_0002_cfg_0006_104122064161#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001953/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.34278661238929325, 0.9394132947572503 ], [ 0.9776837627430838, -0.21008203176027573 ], [ -0.3950489517563252, -0.9186600708184877 ], [ -0.941741911531489, 0.3363363969755318 ] ] }, { "task_id": "0001954", "id": "RH20T_cfg1_task_0059_user_0001_scene_0010_cfg_0001_750612070853#180", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'pick up the knob on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001954/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6602322468424885, 0.7510615022947984 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7524004633292506, -0.6587059607912539 ], [ -0.6305396023092089, -0.7761570781225567 ] ] }, { "task_id": "0001955", "id": "RH20T_cfg4_task_0078_user_0015_scene_0007_cfg_0004_104122062823#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the handle of the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001955/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.014187365134800857, -0.9998993542704845 ], [ -0.9936842064638173, -0.11221273468004284 ], [ -0.05127438227257526, 0.9986846037276061 ], [ 0.9999999999545455, 0.0 ] ] }, { "task_id": "0001956", "id": "RH20T_cfg5_task_0038_user_0007_scene_0010_cfg_0005_104122063678#265", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the cup on the right side of its original position', and now you are performing subtask 'pick up the cup 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001956/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9961725187451408, 0.08740888339844016 ], [ -0.04193825470335585, -0.9991202043760483 ], [ -0.9981933233703512, 0.06008401766571297 ] ] }, { "task_id": "0001957", "id": "RH20T_cfg2_task_0085_user_0007_scene_0002_cfg_0002_037522062165#229", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001957/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0880249770350486, -0.9961182677865009 ], [ 0.9999999989999999, 0.0 ], [ -0.9993742877087655, -0.035369945809933766 ], [ 0.08723276271212248, 0.9961879567178127 ] ] }, { "task_id": "0001958", "id": "RH20T_cfg3_task_0092_user_0010_scene_0001_cfg_0003_104122062823#93", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001958/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7504331793709567, -0.6609463240681483 ], [ -0.5131188087400702, 0.8583175916391155 ], [ 0.8176788361487499, 0.5756746658612188 ], [ 0.5766831975709417, -0.8169678632255006 ] ] }, { "task_id": "0001959", "id": "RH20T_cfg5_task_0010_user_0010_scene_0003_cfg_0005_104122063678#491", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001959/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6954916873930928, -0.7185341416850759 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6201200984435087, -0.7845068919432214 ], [ -0.5916673229765769, 0.80618222438958 ] ] }, { "task_id": "0001960", "id": "RH20T_cfg4_task_0088_user_0014_scene_0008_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001960/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8470139160707347, -0.531570715881263 ], [ -0.268162813263258, -0.9633736064387145 ], [ -0.9539738728489197, 0.29988972960345495 ], [ 0.396436016291447, 0.9180623535170351 ] ] }, { "task_id": "0001961", "id": "RH20T_cfg4_task_0064_user_0016_scene_0009_cfg_0004_104122062823#117", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001961/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7054582833565096, -0.7087514447559784 ], [ -0.7148499277657725, 0.6992778995315595 ], [ 0.79999999984, -0.59999999988 ], [ 0.6145509070309829, 0.7888771657662531 ] ] }, { "task_id": "0001962", "id": "RH20T_cfg4_task_0222_user_0014_scene_0004_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001962/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6997610888772624, 0.7143769442621367 ], [ -0.7808688093820547, 0.6246950475056438 ], [ 0.7986082638011572, -0.6018511784390733 ], [ -0.543735899023856, -0.8392563804420669 ] ] }, { "task_id": "0001963", "id": "RH20T_cfg4_task_0013_user_0016_scene_0003_cfg_0004_104122062823#154", "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 wooden 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001963/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999, 0.0 ], [ -0.13293653163128666, -0.9911245524947124 ], [ -0.9907501730633387, 0.13569854300973364 ], [ 0.09379135077464369, 0.9955918754790378 ] ] }, { "task_id": "0001964", "id": "RH20T_cfg5_task_0004_user_0014_scene_0008_cfg_0005_104122063678#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block on the right and move it to the left', and now you are performing subtask 'pick up the block on the far right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001964/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9970221944749671, -0.07711513291385137 ], [ 0.1315745823662319, -0.9913062742034632 ], [ -0.9915024576996734, -0.13008795630460002 ] ] }, { "task_id": "0001965", "id": "RH20T_cfg2_task_0072_user_0007_scene_0014_cfg_0002_105422061350#273", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001965/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07848037824322668, 0.9969156585342615 ], [ -0.9999999989999999, 0.0 ], [ 0.9960353609040189, -0.0889581914654345 ], [ 0.05062689833317657, -0.9987176363543212 ] ] }, { "task_id": "0001966", "id": "RH20T_cfg4_task_0039_user_0010_scene_0009_cfg_0004_038522062288#165", "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 a full cup of water from the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001966/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.987696596494257, 0.15638233043941083 ], [ -0.020576907046915643, 0.9997882730340373 ], [ 0.0, -0.9999999989999999 ], [ 0.9911017113455294, 0.13310671571323093 ] ] }, { "task_id": "0001967", "id": "RH20T_cfg4_task_0050_user_0014_scene_0004_cfg_0004_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001967/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5203489715026369, -0.8539537152891531 ], [ 0.9103664773872623, 0.41380294426693737 ], [ -0.853057996810527, -0.5218161113626246 ], [ -0.3086579999427569, 0.9511730857584949 ] ] }, { "task_id": "0001968", "id": "RH20T_cfg4_task_0121_user_0007_scene_0009_cfg_0004_104122062823#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'removing the light bulb by rotating it', and now you are performing subtask 'twist the light bulb 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001968/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9946875849595731, -0.10293982867331823 ], [ -0.2570012201904796, -0.9664110785895434 ], [ 0.1543768802688432, 0.9880120337205964 ], [ -0.9935657066356421, 0.11325717018192383 ] ] }, { "task_id": "0001969", "id": "RH20T_cfg6_task_0019_user_0014_scene_0003_cfg_0006_104122064161#77", "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 container in the lower right corner'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001969/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, -0.9486832977505137 ], [ -0.9201425904375706, -0.3915834690878016 ], [ -0.19633547012934272, 0.9805367831800549 ], [ 0.932977865829008, 0.35993374650503335 ] ] }, { "task_id": "0001970", "id": "RH20T_cfg4_task_0081_user_0015_scene_0005_cfg_0004_104122062823#111", "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 'pull the leg of the glasses away from the frame to unfold it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001970/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8893876213961847, 0.457153867868617 ], [ -0.3713906762851382, 0.9284766907128456 ], [ 0.278513076122487, -0.9604324372014879 ], [ -0.8846013981524706, -0.46634790273645943 ] ] }, { "task_id": "0001971", "id": "RH20T_cfg2_task_0019_user_0003_scene_0001_cfg_0002_037522062165#238", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the first move of black in Go is played on the 3-4 point on the board', and now you are performing subtask 'pick up the black stone from the left black bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001971/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3741753458280607, -0.9273579732629958 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.9208947512990985, -0.3898113095200956 ], [ -0.3960339952600666, 0.9182358491141311 ] ] }, { "task_id": "0001972", "id": "RH20T_cfg4_task_0107_user_0007_scene_0008_cfg_0004_104122062823#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the trash from the tablecloth', and now you are performing subtask 'pick up the garbage from the tablecloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001972/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9999382750983697, -0.011110625243309982 ], [ -0.15466188425309446, -0.987967459767417 ], [ -0.9615282265889372, 0.27470615113741703 ] ] }, { "task_id": "0001973", "id": "RH20T_cfg4_task_0109_user_0015_scene_0002_cfg_0004_104122062823#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001973/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.649877797193907, 0.7600387152733701 ], [ 0.857863593542603, -0.5138774706816516 ], [ -0.79999999984, 0.59999999988 ], [ -0.6421866535940973, -0.7665483037262655 ] ] }, { "task_id": "0001974", "id": "RH20T_cfg5_task_0070_user_0007_scene_0004_cfg_0005_037522062165#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pick up the sliding window on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001974/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9985983582825062, -0.05292748657817941 ], [ 0.05285738771302086, -0.9986020711795843 ], [ -0.9951158879504826, -0.09871357327400748 ] ] }, { "task_id": "0001975", "id": "RH20T_cfg3_task_0026_user_0011_scene_0007_cfg_0003_104122062823#100", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001975/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04221429170872913, 0.9991085794724868 ], [ 0.999232373748616, -0.03917477827258935 ], [ -0.9863939237510627, 0.1643989872918438 ], [ -0.24357707603590792, -0.9698815432978388 ] ] }, { "task_id": "0001976", "id": "RH20T_cfg7_task_0016_user_0020_scene_0010_cfg_0007_104122064161#118", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001976/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8044034124340563, -0.5940834537878037 ], [ -0.6411123394407426, -0.7674470458714516 ], [ 0.554700196148306, 0.8320502942224591 ], [ -0.753281666355273, 0.6576980546824077 ] ] }, { "task_id": "0001977", "id": "RH20T_cfg5_task_0048_user_0007_scene_0003_cfg_0005_104122063678#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel in the center of the operation platform 90 degrees clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001977/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24816967101423512, 0.9687165810435405 ], [ 0.9711210524242951, -0.23858730380791326 ], [ -0.9701424999100378, 0.24253562497750944 ], [ -0.2803961956140205, -0.9598843542246035 ] ] }, { "task_id": "0001978", "id": "RH20T_cfg4_task_0101_user_0015_scene_0008_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the stains on the table with a cloth', and now you are performing subtask 'clean the stain on the table with a cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001978/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59922252729234, -0.8005825146637796 ], [ -0.6211602672875324, 0.7836835600823087 ], [ 0.6063601832383232, 0.7951901207781615 ], [ 0.7071067810865475, -0.7071067810865475 ] ] }, { "task_id": "0001979", "id": "RH20T_cfg2_task_0014_user_0003_scene_0005_cfg_0002_037522062165#207", "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 cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001979/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9928204565388792, -0.11961413410601401 ], [ -0.10110983990043461, -0.9948752687022171 ], [ 0.0, 0.9999999996666666 ], [ -0.9880825384429749, 0.15392497271101654 ] ] }, { "task_id": "0001980", "id": "RH20T_cfg5_task_0008_user_0010_scene_0005_cfg_0005_104122063678#231", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001980/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6743469503554119, 0.7384146467577384 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7987827413971776, -0.6016195908096824 ], [ -0.7197059042208851, -0.6942790587577866 ] ] }, { "task_id": "0001981", "id": "RH20T_cfg4_task_0102_user_0014_scene_0015_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrub the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001981/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9830504078966656, -0.18333547265654698 ], [ -0.4095889385430684, -0.9122701910197234 ], [ -0.8825663938137647, 0.4701877928132195 ], [ 0.33282011772590675, 0.9429903335567358 ] ] }, { "task_id": "0001982", "id": "RH20T_cfg3_task_0092_user_0010_scene_0004_cfg_0003_104122062823#128", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001982/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.999999999875, 0.0 ], [ 0.0879107094648976, 0.9961283587778126 ], [ 0.9927891924598614, 0.11987334705803508 ], [ -0.14982633851952348, -0.9887123283775889 ] ] }, { "task_id": "0001983", "id": "RH20T_cfg2_task_0020_user_0003_scene_0007_cfg_0002_037522062165#482", "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 of the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001983/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9258382300753826, -0.3779200599741735 ], [ -0.46484781863218655, 0.8853905948861767 ], [ 0.9316736989597343, 0.3632961858686196 ], [ 0.3713906762851382, -0.9284766907128456 ] ] }, { "task_id": "0001984", "id": "RH20T_cfg5_task_0008_user_0010_scene_0002_cfg_0005_104122063678#245", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on the black circle', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001984/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9988159856847566, -0.048647988042549835 ], [ -0.07474969642565518, 0.9972023279577081 ], [ 0.9994668040219398, -0.032651304080686824 ] ] }, { "task_id": "0001985", "id": "RH20T_cfg5_task_0010_user_0010_scene_0008_cfg_0005_104122063678#341", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001985/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9024854524769294, 0.430720336259518 ], [ 0.3700407723159799, -0.9290155148455774 ], [ -0.9645408338069683, -0.2639336657551634 ], [ -0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0001986", "id": "RH20T_cfg4_task_0089_user_0015_scene_0004_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the right', and now you are performing subtask 'push the small square to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001986/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.41905817743247864, 0.907959384437037 ], [ 0.9498277579033471, 0.3127734488672286 ], [ 0.41358422721882226, -0.9104658626196864 ], [ -0.9019269334738483, -0.43188865078218985 ] ] }, { "task_id": "0001987", "id": "RH20T_cfg4_task_0088_user_0007_scene_0010_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the block onto the table on the left side of the frame', and now you are performing subtask 'pick up the block 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001987/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9974521490557144, 0.07133870158712524 ], [ 0.0016819558980074728, -0.9999985855111783 ], [ -0.06880209161301128, 0.9976303283886635 ], [ -0.9887592203813298, -0.14951656801473523 ] ] }, { "task_id": "0001988", "id": "RH20T_cfg4_task_0102_user_0014_scene_0017_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001988/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5299255412073572, -0.8480441738353549 ], [ -0.8465288186931462, -0.5323428961881492 ], [ -0.5304822579627394, 0.8476960386758651 ], [ 0.8479983039152004, 0.5299989399470002 ] ] }, { "task_id": "0001989", "id": "RH20T_cfg1_task_0028_user_0001_scene_0002_cfg_0001_039422060546#198", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close it', and now you are performing subtask 'push the drawer to close 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001989/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.5150722129141468, 0.8571467875945892 ], [ 0.9081938030423194, 0.41854989680506305 ], [ 0.3951008297653771, -0.9186377601202285 ] ] }, { "task_id": "0001990", "id": "RH20T_cfg7_task_0005_user_0020_scene_0006_cfg_0007_104122064161#102", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001990/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, 0.7071067810198809 ], [ 0.6814144133370037, -0.7318978052273329 ], [ -0.6071188912991435, -0.7946110066112216 ], [ -0.7364340033059407, 0.6765093929686311 ] ] }, { "task_id": "0001991", "id": "RH20T_cfg2_task_0052_user_0016_scene_0008_cfg_0002_105422061350#188", "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 green surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001991/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9234783105238463, -0.38365063533379223 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.554011672481785, -0.8325088989037508 ], [ -0.8857243799765259, 0.4642115064442058 ] ] }, { "task_id": "0001992", "id": "RH20T_cfg6_task_0008_user_0014_scene_0005_cfg_0006_104122064161#34", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001992/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6137965236985699, -0.789464266129602 ], [ -0.8163675022789748, -0.5775327706916622 ], [ 0.8637789008673454, 0.5038710255059515 ], [ -0.4203012185017814, 0.9073846404507395 ] ] }, { "task_id": "0001993", "id": "RH20T_cfg6_task_0041_user_0014_scene_0004_cfg_0006_104122064161#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001993/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6090481366810273, 0.7931332594245236 ], [ 0.9096115944627956, -0.4154596818210533 ], [ -0.3959044599415587, -0.918291706702387 ], [ -0.8682431420167669, 0.4961389382952954 ] ] }, { "task_id": "0001994", "id": "RH20T_cfg3_task_0042_user_0010_scene_0006_cfg_0003_104122062823#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the transparent bottle on the table', and now you are performing subtask 'pick up the transparent bottle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001994/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.03755432888384988, 0.999294587387565 ], [ 0.9922453883230236, 0.12429436572786431 ], [ -0.9980525784206317, -0.06237828615128948 ], [ 0.19984050874425976, -0.9798284396080957 ] ] }, { "task_id": "0001995", "id": "RH20T_cfg4_task_0093_user_0014_scene_0002_cfg_0004_038522062288#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001995/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9850028185658861, 0.1725382491427918 ], [ 0.3716911678744269, -0.9283564378643284 ], [ -0.9460873438178798, -0.3239116204578477 ], [ -0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0001996", "id": "RH20T_cfg5_task_0051_user_0007_scene_0010_cfg_0005_104122063678#216", "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 dish from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001996/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975282062490414, -0.0702671882002551 ], [ -0.019439524586347828, -0.9998110345879649 ], [ -0.9992245757192195, -0.0393731796880305 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0001997", "id": "RH20T_cfg7_task_0004_user_0014_scene_0003_cfg_0007_104122064161#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the small block on the left side of the large block on the table', and now you are performing subtask 'pick up the small 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001997/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8456093392365582, -0.5338022530824605 ], [ -0.6870849764269089, 0.7265770676042798 ], [ 0.7491884383229954, 0.6623569157811755 ], [ 0.59999999988, -0.79999999984 ] ] }, { "task_id": "0001998", "id": "RH20T_cfg4_task_0215_user_0014_scene_0005_cfg_0004_104122063550#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the knife from the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0001998/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9995672957641373, -0.029414643271161375 ], [ 0.0, -0.9999999998333333 ], [ 0.04858607430908362, 0.9988189993103016 ], [ 0.9990346733693467, 0.04392859439821369 ] ] }, { "task_id": "0002000", "id": "RH20T_cfg1_task_0007_user_0004_scene_0001_cfg_0001_039422060546#252", "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 piece from the left side to the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002000/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6648259987888682, -0.7469982539031693 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6019485454231422, -0.7985348762971867 ], [ -0.7653208396939093, 0.6436489822334918 ] ] }, { "task_id": "0002001", "id": "RH20T_cfg4_task_0092_user_0015_scene_0003_cfg_0004_104122062823#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'twist the hands of a clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002001/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.93615045192919, -0.35159967484736565 ], [ -0.2965206841823071, -0.9550264309703981 ], [ -0.9437439360256826, 0.33067715859241364 ], [ 0.2631174057805703, 0.9647638211954245 ] ] }, { "task_id": "0002003", "id": "RH20T_cfg4_task_0039_user_0010_scene_0005_cfg_0004_104122062823#120", "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 with water from the wooden surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002003/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7437644031375682, 0.6684418543339554 ], [ 0.6117488061866408, -0.7910520830698948 ], [ -0.6157209235531892, -0.7879643039496192 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0002005", "id": "RH20T_cfg5_task_0010_user_0007_scene_0009_cfg_0005_104122063678#234", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002005/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6470774094069731, -0.7624243085284994 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7433361790065995, -0.6689180256054315 ], [ -0.6386791291315772, 0.7694731769280396 ] ] }, { "task_id": "0002006", "id": "RH20T_cfg2_task_0004_user_0006_scene_0010_cfg_0002_037522062165#286", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002006/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12487164409646709, -0.992172904538642 ], [ 0.9999999989999999, 0.0 ], [ -0.9923468502871795, 0.12348169388664154 ], [ 0.1063267771308396, 0.9943312408171477 ] ] }, { "task_id": "0002007", "id": "RH20T_cfg2_task_0046_user_0007_scene_0006_cfg_0002_037522062165#339", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002007/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.8974199756514707, 0.4411772742353281 ], [ 0.3438807637073243, -0.9390133227766619 ], [ -0.9814793356669297, -0.19156803924142035 ] ] }, { "task_id": "0002008", "id": "RH20T_cfg4_task_0108_user_0007_scene_0005_cfg_0004_104122062823#230", "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 device's lever 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002008/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7698244296597292, -0.6382557069851179 ], [ -0.8005009354478122, -0.5993315045508435 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.5936861572137289, 0.8046966799563645 ] ] }, { "task_id": "0002009", "id": "RH20T_cfg4_task_0077_user_0015_scene_0002_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the small Lego block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002009/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955287730262414, -0.0944587850698192 ], [ 0.1842885350388646, 0.9828721868739445 ], [ -0.21239896004214537, -0.9771830339158653 ], [ -0.9941026478060829, 0.1084431907725664 ] ] }, { "task_id": "0002010", "id": "RH20T_cfg5_task_0123_user_0007_scene_0009_cfg_0005_104122063678#258", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002010/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9611871400299172, 0.2758972305789029 ], [ 0.33538980129375084, -0.942079445263582 ], [ -0.9606448430567902, -0.2777795627982649 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0002011", "id": "RH20T_cfg7_task_0016_user_0020_scene_0009_cfg_0007_104122064161#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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002011/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9789078607237319, 0.20430222762683437 ], [ -0.011756108607674672, -0.9999308945674219 ], [ -0.9856806574292037, -0.1686227789177159 ], [ -0.06651901051934915, 0.9977851577902372 ] ] }, { "task_id": "0002012", "id": "RH20T_cfg4_task_0015_user_0010_scene_0007_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the drumsticks onto the drum', and now you are performing subtask 'pick up the drumstick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002012/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3939192985274435, 0.9191450298973682 ], [ 0.8553117669041996, -0.5181136761321943 ], [ -0.39021365487903115, -0.9207243363493486 ], [ -0.8906987372897006, 0.45459406000357383 ] ] }, { "task_id": "0002013", "id": "RH20T_cfg5_task_0023_user_0010_scene_0003_cfg_0005_104122063678#246", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002013/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9939034080087442, -0.1102543221311695 ], [ -0.03760300859428208, -0.9992927567758401 ], [ -0.9633594479014597, 0.26821367254298356 ], [ 0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0002014", "id": "RH20T_cfg6_task_0078_user_0014_scene_0010_cfg_0006_104122064161#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the position of closing the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002014/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9838699100119074, 0.17888543818398317 ], [ 0.3065063764895253, -0.9518686049929693 ], [ -0.9995594625638873, -0.02967963609940047 ], [ -0.27202057966350085, 0.9622914341505556 ] ] }, { "task_id": "0002015", "id": "RH20T_cfg4_task_0088_user_0007_scene_0008_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002015/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7731521714837518, 0.6342205607909281 ], [ -0.6139406134610743, 0.7893522173070956 ], [ 0.719731656542274, -0.6942523623084866 ], [ -0.8736483815677908, -0.4865578129924335 ] ] }, { "task_id": "0002016", "id": "RH20T_cfg5_task_0071_user_0007_scene_0003_cfg_0005_104122063678#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull the window to close the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002016/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.35112344154729586, 0.9363291774594555 ], [ 0.92738119608172, -0.37411778513462635 ], [ -0.4479646805552274, -0.8940512541096585 ], [ -0.9304825527483369, 0.36633621037366537 ] ] }, { "task_id": "0002017", "id": "RH20T_cfg4_task_0018_user_0016_scene_0003_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the stacked blocks', and now you are performing subtask 'push the stacked blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002017/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9851879366161194, 0.171478073076628 ], [ 0.2417178796476832, -0.9703465703853589 ], [ -0.1520571842423804, 0.9883716975754727 ], [ -0.9667058503306389, -0.2558902087546852 ] ] }, { "task_id": "0002018", "id": "RH20T_cfg3_task_0091_user_0010_scene_0007_cfg_0003_104122062823#130", "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 green button from the black 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002018/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6431920864035735, 0.765704864766159 ], [ 0.7378573761202997, 0.6749566597233237 ], [ 0.5748524006305255, -0.8182571218689892 ], [ -0.7628309451016388, -0.6465979811253207 ] ] }, { "task_id": "0002019", "id": "RH20T_cfg4_task_0092_user_0007_scene_0003_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the lever to the right', and now you are performing subtask 'pull the lever to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002019/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995176576983301, -0.031055626692178755 ], [ -0.06049506040006053, 0.9981684966009987 ], [ 0.12008234161762948, -0.9927639352996397 ], [ -0.9970153678121436, -0.07720334414010925 ] ] }, { "task_id": "0002020", "id": "RH20T_cfg6_task_0045_user_0014_scene_0004_cfg_0006_104122064161#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002020/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14546523677570553, 0.9893633634260913 ], [ -0.9974586997952021, 0.07124704998537157 ], [ 0.9904705990733261, -0.1377243347100517 ], [ -0.016993423447722842, -0.9998556013542789 ] ] }, { "task_id": "0002021", "id": "RH20T_cfg7_task_0035_user_0020_scene_0006_cfg_0007_104122064161#94", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002021/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, 0.7071067810198809 ], [ 0.769338275966653, -0.6388416213214806 ], [ -0.7128809965117858, -0.7012850239470135 ], [ -0.7982422730550506, 0.6023365118502331 ] ] }, { "task_id": "0002022", "id": "RH20T_cfg2_task_0008_user_0013_scene_0008_cfg_0002_105422061350#400", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002022/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9852911161451247, -0.17088421941623072 ], [ -0.30739552696788663, -0.9515818356821106 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9833336030068236, 0.1818104100364411 ] ] }, { "task_id": "0002023", "id": "RH20T_cfg7_task_0009_user_0014_scene_0005_cfg_0007_104122064161#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out the yellow Hanoi block and put it on the table', and now you are performing subtask 'pick up the yellow Hanoi block from the pillar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002023/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6295432129506329, 0.7769654709366396 ], [ 0.7531171262468149, -0.6578864599258287 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6073092523765758, -0.7944655259844852 ] ] }, { "task_id": "0002024", "id": "RH20T_cfg4_task_0124_user_0007_scene_0008_cfg_0004_104122062823#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002024/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999687501, 0.0 ], [ -0.14162646069648274, -0.9899201713424107 ], [ -0.99180520735437, -0.1277592684103777 ], [ 0.13626860265943783, 0.9906719274963051 ] ] }, { "task_id": "0002025", "id": "RH20T_cfg7_task_0044_user_0020_scene_0006_cfg_0007_104122064161#84", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002025/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.37767370935065364, -0.9259387502774241 ], [ -0.8893864838414394, 0.4571560809615914 ], [ 0.8944271907999158, -0.4472135953999579 ], [ 0.5325044243497561, 0.8464272195811846 ] ] }, { "task_id": "0002026", "id": "RH20T_cfg2_task_0071_user_0014_scene_0002_cfg_0002_105422061350#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the window handle to close the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002026/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.9059412534378303, -0.42340340730737297 ], [ -0.3519108332360743, -0.9360335279524403 ], [ -0.8248842883858967, 0.5653016104471071 ] ] }, { "task_id": "0002027", "id": "RH20T_cfg4_task_0124_user_0007_scene_0006_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever down on the fabric press'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002027/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.39023053571738336, -0.9207171818716777 ], [ -0.8392037616559201, 0.5438171075118488 ], [ 0.9061831399405209, -0.4228854653055764 ], [ 0.43223166968725907, 0.9017625983147474 ] ] }, { "task_id": "0002029", "id": "RH20T_cfg2_task_0083_user_0007_scene_0006_cfg_0002_037522062165#264", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002029/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9911315932377933, -0.1328840279563851 ], [ -0.002769364885122479, 0.9999961653017141 ], [ 0.0, -0.9999999989999999 ], [ 0.9878412644321725, -0.15546586855334782 ] ] }, { "task_id": "0002030", "id": "RH20T_cfg5_task_0004_user_0010_scene_0004_cfg_0005_104122063678#249", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002030/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.0008274508445240775, 0.9999996576624914 ], [ 0.9966285007137493, 0.08204652073710483 ], [ 0.13217969615698447, -0.99122577040947 ] ] }, { "task_id": "0002032", "id": "RH20T_cfg1_task_0031_user_0014_scene_0006_cfg_0001_038522062547#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'place the lid on the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002032/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9672451035528156, 0.25384426259638615 ], [ 0.21614388421800612, -0.9763615218325399 ], [ -0.26311740576903186, 0.9647638211531168 ], [ -0.993311999043849, -0.11546113006337912 ] ] }, { "task_id": "0002033", "id": "RH20T_cfg6_task_0088_user_0020_scene_0006_cfg_0006_104122064161#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the small square block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002033/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, 0.9615239475087477 ], [ 0.9294769732883424, -0.368880137885929 ], [ -0.406447264276215, -0.9136742424750632 ], [ -0.9744131734360341, 0.22476424856795485 ] ] }, { "task_id": "0002034", "id": "RH20T_cfg2_task_0096_user_0007_scene_0010_cfg_0002_105422061350#62", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002034/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3939192985274435, 0.9191450298973682 ], [ 0.926607462204552, 0.3760300665995205 ], [ 0.27045374335243844, -0.9627329706136866 ], [ -0.8552483254450289, -0.5182183920158313 ] ] }, { "task_id": "0002035", "id": "RH20T_cfg2_task_0096_user_0007_scene_0010_cfg_0002_105422061350#471", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002035/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7715096220762376, -0.6362176538290815 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6109191883248275, -0.7916929615302475 ], [ -0.7607015241210374, 0.6491018342293686 ] ] }, { "task_id": "0002036", "id": "RH20T_cfg5_task_0071_user_0007_scene_0005_cfg_0005_104122063678#179", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002036/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7196077717360728, 0.6943807708001741 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6889406757380585, -0.7248177324773363 ], [ -0.6687733101974078, -0.7434663809262675 ] ] }, { "task_id": "0002037", "id": "RH20T_cfg2_task_0012_user_0007_scene_0006_cfg_0002_105422061350#156", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002037/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, -0.4472135952999579 ], [ -0.4125856812961464, -0.9109187974728564 ], [ -0.8623380038641149, 0.5063330594496609 ], [ 0.37458056271913837, 0.9271943712259118 ] ] }, { "task_id": "0002038", "id": "RH20T_cfg2_task_0064_user_0007_scene_0006_cfg_0002_105422061350#168", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002038/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8177584526262116, 0.5755615633087255 ], [ 0.5808079262408584, -0.8140406333935633 ], [ -0.554700196071383, 0.8320502941070744 ], [ -0.837325542333274, -0.5467046150859609 ] ] }, { "task_id": "0002039", "id": "RH20T_cfg7_task_0049_user_0020_scene_0009_cfg_0007_104122064161#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'pick up the steering wheel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002039/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6888787780914863, -0.7248765612814232 ], [ 0.7808688093210792, -0.6246950474568633 ], [ -0.7314931929981121, 0.6818487431956055 ], [ 0.6614217364923931, 0.7500141908626713 ] ] }, { "task_id": "0002041", "id": "RH20T_cfg6_task_0124_user_0020_scene_0001_cfg_0006_104122064161#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever on the fixture down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002041/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9659225128724362, 0.25883141062513676 ], [ -0.3162277659835046, -0.9486832979505138 ], [ 0.2967787187760083, 0.9549462770657159 ], [ 0.9463076503454443, -0.3232674293795838 ] ] }, { "task_id": "0002042", "id": "RH20T_cfg6_task_0042_user_0020_scene_0006_cfg_0006_104122064161#161", "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 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002042/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989828177580069, -0.0450924586186288 ], [ 0.15260573577684408, -0.9882871492678674 ], [ -0.11043152606265141, 0.9938837345638627 ], [ -0.9811249301182694, -0.19337495055053253 ] ] }, { "task_id": "0002043", "id": "RH20T_cfg6_task_0023_user_0014_scene_0004_cfg_0006_104122064161#43", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002043/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8755118439757957, -0.48319665878201395 ], [ 0.40014159439379765, 0.9164533290954721 ], [ -0.2541353470829701, -0.9671686643822878 ], [ -0.8500356757016811, 0.5267251180970834 ] ] }, { "task_id": "0002044", "id": "RH20T_cfg4_task_0126_user_0007_scene_0004_cfg_0004_104122062823#128", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002044/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5627396935556893, 0.8266341617044684 ], [ 0.8332729838896513, -0.5528617678223345 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.38806148389224226, -0.9216334871950731 ] ] }, { "task_id": "0002045", "id": "RH20T_cfg5_task_0119_user_0010_scene_0009_cfg_0005_104122063678#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'twisting the water tap handle', and now you are performing subtask 'twist the handle of the water tap clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002045/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.99999999975, 0.0 ], [ 0.05116408833033884, 0.9986902603236528 ], [ 0.9990200743913304, -0.044259360175453705 ], [ 0.13158718984779416, -0.9913046007499212 ] ] }, { "task_id": "0002046", "id": "RH20T_cfg4_task_0020_user_0016_scene_0003_cfg_0004_104122062823#148", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002046/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.43487154459684113, 0.9004924984140388 ], [ -0.9486832979755138, -0.31622776599183794 ], [ 0.9707411350017334, 0.24012840068502161 ], [ 0.23081037947481617, -0.9729987506295634 ] ] }, { "task_id": "0002047", "id": "RH20T_cfg2_task_0054_user_0007_scene_0017_cfg_0002_105422061350#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the object', and now you are performing subtask 'pick up the object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002047/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08334076861225632, 0.9965211067945919 ], [ 0.997167497549781, -0.07521290999760466 ], [ 0.05118910011978025, -0.998688978625942 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002048", "id": "RH20T_cfg1_task_0012_user_0005_scene_0010_cfg_0001_750612070853#80", "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 to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002048/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2428196750768533, -0.9700714434491778 ], [ -0.9104739805834579, -0.41356635583726276 ], [ -0.12312078116444208, 0.9923916934585142 ], [ 0.9611059653192355, 0.27617987509173436 ] ] }, { "task_id": "0002050", "id": "RH20T_cfg3_task_0007_user_0016_scene_0009_cfg_0003_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide a small block on the tablecloth', and now you are performing subtask 'slide a small square on the tablecloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002050/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5501898652087656, -0.8350395872182111 ], [ -0.8319385871904214, 0.5548677204015438 ], [ 0.4893859885749142, 0.8720672876484669 ], [ 0.79999999992, -0.59999999994 ] ] }, { "task_id": "0002051", "id": "RH20T_cfg2_task_0075_user_0007_scene_0007_cfg_0002_037522062165#316", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the remaining chess pieces from the edge of the board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002051/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14170169106134353, 0.9899094053247275 ], [ 0.9978760245538713, -0.06514168880649147 ], [ -0.9999999989999999, 0.0 ], [ -0.09762379389251119, -0.9952233894287416 ] ] }, { "task_id": "0002052", "id": "RH20T_cfg7_task_0046_user_0014_scene_0010_cfg_0007_104122064161#51", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002052/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3880570000393092, 0.9216353750933594 ], [ 0.9023746365384938, 0.4309524513586404 ], [ 0.3815949345147703, -0.9243296522089228 ], [ -0.9661340883872416, -0.25804054576006813 ] ] }, { "task_id": "0002053", "id": "RH20T_cfg3_task_0022_user_0011_scene_0002_cfg_0003_104122062823#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002053/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.03140591072926498, -0.9995067127194622 ], [ -0.9989933803519978, 0.04485784226741852 ], [ 0.13666626902732876, 0.9906171464850333 ] ] }, { "task_id": "0002054", "id": "RH20T_cfg1_task_0005_user_0004_scene_0003_cfg_0001_039422060546#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the wooden block over the table', and now you are performing subtask 'push the wooden block above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002054/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9981329298144752, -0.061079083326226406 ], [ 0.0907613312135716, -0.9958726729639389 ], [ -0.9881531565578348, 0.15347097179853694 ] ] }, { "task_id": "0002055", "id": "RH20T_cfg4_task_0016_user_0010_scene_0007_cfg_0004_104122062295#82", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002055/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1250318695046345, 0.9921527259490729 ], [ -0.961523947596798, -0.2747211278847994 ], [ 0.9076878745736111, 0.41964594880927947 ], [ 0.1419065856226587, -0.9898800538231484 ] ] }, { "task_id": "0002056", "id": "RH20T_cfg4_task_0086_user_0014_scene_0009_cfg_0004_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the rotary phone 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002056/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9835611977813616, -0.18057510963278767 ], [ -0.38691964981165233, -0.9221134336889515 ], [ -0.9615216077376542, 0.27472931742643847 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0002057", "id": "RH20T_cfg3_task_0026_user_0010_scene_0008_cfg_0003_038522062288#50", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002057/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08155600354366078, -0.9966687605649062 ], [ 0.9999999999, 0.0 ], [ -0.989160605804843, 0.1468376515877181 ], [ -0.04024082740369229, 0.9991900098629221 ] ] }, { "task_id": "0002058", "id": "RH20T_cfg2_task_0075_user_0014_scene_0004_cfg_0002_105422061350#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up a chess piece from the edge of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002058/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906762851382, 0.9284766907128456 ], [ 0.8887739807823052, -0.45834573313643345 ], [ -0.25558779094736467, -0.9667858507025463 ], [ -0.9473045907688465, 0.32033421969603587 ] ] }, { "task_id": "0002059", "id": "RH20T_cfg5_task_0068_user_0007_scene_0004_cfg_0005_037522062165#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press a button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002059/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9582376802822721, -0.2859729848906188 ], [ -0.38330513028259433, 0.9236217716679503 ], [ 0.9606109172039605, 0.2778968617105376 ], [ 0.31622776591683793, -0.9486832977505137 ] ] }, { "task_id": "0002060", "id": "RH20T_cfg2_task_0019_user_0003_scene_0008_cfg_0002_037522062165#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play Go with black pieces in the lower left corner', and now you are performing subtask 'pick up the black stone from the bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002060/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9903912843679124, -0.13829354232239877 ], [ 0.28734788553882246, 0.9578262851294083 ], [ -0.34939800121139375, -0.9369744056000051 ], [ -0.929068021040671, 0.36990892430376904 ] ] }, { "task_id": "0002061", "id": "RH20T_cfg3_task_0001_user_0016_scene_0001_cfg_0003_104122062823#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002061/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1842885350388646, 0.9828721868739445 ], [ 0.9854911472226622, -0.16972683566767313 ], [ -0.04860844827891085, -0.998817910710414 ], [ -0.9969645571674008, 0.07785673864225416 ] ] }, { "task_id": "0002062", "id": "RH20T_cfg4_task_0105_user_0007_scene_0016_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002062/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12403473458613155, 0.9922778766890524 ], [ 0.9786043677060309, 0.20575104254092977 ], [ -0.019163198692016402, -0.9998163690477819 ], [ -0.9792704663949087, -0.2025570380083056 ] ] }, { "task_id": "0002063", "id": "RH20T_cfg4_task_0210_user_0014_scene_0010_cfg_0004_104122063550#59", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002063/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7341187525185148, -0.6790211021762577 ], [ 0.5692099787943082, 0.8221921915917786 ], [ -0.5846386022649114, -0.8112938461135589 ], [ -0.780107625480297, 0.6256453409620284 ] ] }, { "task_id": "0002064", "id": "RH20T_cfg4_task_0108_user_0007_scene_0007_cfg_0004_104122062823#113", "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 pencil sharpener handle counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002064/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949466517848341, 0.1004049804648563 ], [ -0.24253562497750944, 0.9701424999100378 ], [ 0.3155610585765504, -0.9489052736232668 ], [ -0.9825506862677565, -0.1859950238978471 ] ] }, { "task_id": "0002065", "id": "RH20T_cfg4_task_0083_user_0015_scene_0002_cfg_0004_104122062823#91", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002065/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9922891902212045, -0.12394419296661738 ], [ 0.0, 0.9999999999166667 ], [ -0.09909905244522826, -0.9950775737621956 ], [ -0.9928899476594151, -0.11903592666453268 ] ] }, { "task_id": "0002067", "id": "RH20T_cfg3_task_0086_user_0010_scene_0007_cfg_0003_038522062288#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the stick in the cup'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002067/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.0009408245686351356, -0.9999995574244677 ], [ -0.9994979275738913, 0.03168426700266999 ], [ 0.013354713499653512, 0.9999108218372987 ] ] }, { "task_id": "0002068", "id": "RH20T_cfg5_task_0008_user_0007_scene_0007_cfg_0005_104122063678#243", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the block on the black circle', and now you are performing subtask 'pick up the block from the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002068/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7768873045727882, -0.6296396715532049 ], [ -0.7303771173988675, -0.6830441174478564 ], [ -0.6754983583918307, 0.7373614905932788 ] ] }, { "task_id": "0002069", "id": "RH20T_cfg3_task_0086_user_0010_scene_0010_cfg_0003_104122062823#223", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'twist the dial of the old rotary phone 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002069/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5936257974610333, 0.80474120845695 ], [ 0.7622169087218486, -0.6473217005929194 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7677395669825688, -0.6407620129887678 ] ] }, { "task_id": "0002070", "id": "RH20T_cfg3_task_0052_user_0010_scene_0001_cfg_0003_104122062823#120", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002070/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9759118658997264, -0.21816514386151253 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.1305122228115123, -0.9914467003812147 ], [ -0.9661581738108722, 0.25795035021965096 ] ] }, { "task_id": "0002071", "id": "RH20T_cfg4_task_0107_user_0015_scene_0006_cfg_0004_104122062823#101", "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 first piece of garbage 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002071/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7962611446483029, 0.60495304737093 ], [ 0.5599060272906473, -0.8285561179567772 ], [ -0.9161596950252894, -0.40081343940937025 ], [ -0.49613893832606465, 0.868243142070613 ] ] }, { "task_id": "0002072", "id": "RH20T_cfg4_task_0107_user_0015_scene_0006_cfg_0004_104122062823#200", "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 first piece of garbage in the trash can'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002072/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.198601191503972, -0.9800803878933618 ], [ -0.9108606331675654, -0.4127140740822657 ], [ -0.2869697132998095, 0.9579396555361017 ], [ 0.939793423408145, 0.3417430630575073 ] ] }, { "task_id": "0002073", "id": "RH20T_cfg4_task_0094_user_0007_scene_0010_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002073/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9056589058091492, 0.42400701212193953 ], [ 0.5449154700594956, 0.8384909841434427 ], [ -0.4472135954499579, -0.8944271908999158 ], [ 0.9023057449999603, -0.43109667423916265 ] ] }, { "task_id": "0002074", "id": "RH20T_cfg6_task_0068_user_0014_scene_0003_cfg_0006_104122064161#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the orange base on the desktop', and now you are performing subtask 'press the red button on the orange base 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002074/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9865163889993502, 0.16366250100643942 ], [ 0.09921105148396643, -0.9950664134938159 ], [ -0.1961161350997225, 0.9805806754986125 ], [ -0.9929273911340587, -0.1187231903871869 ] ] }, { "task_id": "0002075", "id": "RH20T_cfg2_task_0070_user_0014_scene_0009_cfg_0002_105422061350#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the handle of the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002075/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832977505137, 0.31622776591683793 ], [ 0.3753771825431669, -0.9268721437317846 ], [ -0.980133958185059, -0.19833664314112295 ], [ -0.26975878744179266, 0.9629279290777342 ] ] }, { "task_id": "0002076", "id": "RH20T_cfg5_task_0122_user_0007_scene_0004_cfg_0005_104122063678#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002076/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6521378384491421, 0.7581004152900067 ], [ 0.7070612284047859, -0.7071523310339259 ], [ -0.7731887519840779, -0.6341759643863083 ] ] }, { "task_id": "0002077", "id": "RH20T_cfg5_task_0062_user_0007_scene_0010_cfg_0005_104122063678#213", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002077/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8065100676879948, 0.5912203571578925 ], [ 0.631913808012447, -0.7750386695147593 ], [ -0.8005587485887474, -0.5992542782976343 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002080", "id": "RH20T_cfg3_task_0018_user_0011_scene_0006_cfg_0003_038522062288#202", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the block from the block pile'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002080/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9967761325599714, -0.08023304530420321 ], [ 0.1280772494878489, -0.9917641948384844 ], [ -0.9985213143649914, 0.054361611076292914 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002081", "id": "RH20T_cfg5_task_0038_user_0007_scene_0006_cfg_0005_104122063678#221", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the orange cup from beneath the table to above the table', and now you are performing subtask 'pick up the orange cup from under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002081/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995506564904229, 0.029974741192622792 ], [ 0.0, 0.9999999996666666 ], [ -0.046138356776567684, -0.9989350589672775 ], [ -0.9881533679621567, -0.15346961062388456 ] ] }, { "task_id": "0002082", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#169", "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 wooden block from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002082/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13396469270415887, -0.9909861054064685 ], [ -0.9950664605654305, -0.09921057936423253 ], [ 0.9999999998333333, 0.0 ], [ -0.08284503856382394, 0.9965624413880741 ] ] }, { "task_id": "0002083", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#246", "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 wooden block from the gift 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002083/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6403558785994217, 0.7680783480499648 ], [ 0.6770498000720759, 0.7359372039939021 ], [ 0.630562226198867, -0.7761386982306248 ], [ -0.776114000097442, -0.6305926250791717 ] ] }, { "task_id": "0002084", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#334", "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 wooden block from the gift 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002084/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08271386723808734, -0.9965733370738554 ], [ -0.9990030482531853, -0.044642015868954055 ], [ 0.9999999995, 0.0 ], [ 0.10349245981162417, 0.9946302382102303 ] ] }, { "task_id": "0002085", "id": "RH20T_cfg6_task_0047_user_0014_scene_0007_cfg_0006_104122064161#154", "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 off 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002085/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.990337821141834, 0.13867588116195617 ], [ 0.15384607508760179, 0.9880948260061583 ], [ 0.0, -0.9999999989999999 ], [ 0.9999949995352646, -0.0031624206655973416 ] ] }, { "task_id": "0002086", "id": "RH20T_cfg6_task_0032_user_0014_scene_0005_cfg_0006_104122064161#50", "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 lid onto the gift 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002086/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9749821807595573, -0.22228303399346022 ], [ -0.3211712781182383, 0.9470211244274847 ], [ 0.9734135403902444, 0.22905475193702027 ], [ 0.328520624927782, -0.9444967966673732 ] ] }, { "task_id": "0002087", "id": "RH20T_cfg5_task_0118_user_0010_scene_0009_cfg_0005_104122063678#193", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'turn the water tap 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002087/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7595530469242697, 0.650445361969826 ], [ -0.707106781130992, -0.707106781130992 ], [ 0.6027727799116757, 0.7979128873489578 ], [ 0.5945485445040964, -0.8040597168295776 ] ] }, { "task_id": "0002088", "id": "RH20T_cfg4_task_0091_user_0015_scene_0006_cfg_0004_104122062823#84", "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 wooden block in the dark blue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002088/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997512278171645, -0.022304315234322695 ], [ 0.0, 0.9999999999375 ], [ -0.05924710998688892, -0.9982433470643326 ], [ -0.990714750444266, -0.1359569168970663 ] ] }, { "task_id": "0002089", "id": "RH20T_cfg3_task_0010_user_0010_scene_0010_cfg_0003_104122062823#165", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002089/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0370116605085104, 0.9993148337297808 ], [ 0.9986686021601455, -0.051585105015895444 ], [ -0.10838869229805777, -0.9941085913429765 ], [ -0.9993854732768049, -0.03505247214244169 ] ] }, { "task_id": "0002090", "id": "RH20T_cfg3_task_0054_user_0010_scene_0005_cfg_0003_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the blue toy in the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002090/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9255469561667387, 0.3786328457045749 ], [ 0.25361984363904255, 0.9673039723440133 ], [ 0.9693424456068, -0.2457137015817962 ], [ -0.4379504518732531, -0.8989991110696459 ] ] }, { "task_id": "0002091", "id": "RH20T_cfg6_task_0094_user_0020_scene_0007_cfg_0006_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the blue lid on the blue 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002091/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997168931367209, -0.023793561672481447 ], [ 0.0, 0.9999999989999999 ], [ -0.08175181671481412, -0.9966527180838004 ], [ -0.9957594173354463, 0.09199555852198837 ] ] }, { "task_id": "0002092", "id": "RH20T_cfg5_task_0001_user_0020_scene_0009_cfg_0005_104122063678#293", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the orange base', and now you are performing subtask 'press the red button on the orange base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002092/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9899494935211665, 0.1414213562173095 ], [ 0.25554506039480107, 0.9667971463072372 ], [ 0.9811116565741462, -0.19344228424606316 ], [ -0.05143472339383451, -0.9986763586014239 ] ] }, { "task_id": "0002093", "id": "RH20T_cfg7_task_0008_user_0014_scene_0004_cfg_0007_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 on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002093/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989614919285015, 0.04556245871309469 ], [ 0.22587490165699034, -0.9741563164099717 ], [ -0.9391992413014587, -0.3433726621890048 ], [ -0.19611613512856865, 0.9805806756428433 ] ] }, { "task_id": "0002094", "id": "RH20T_cfg5_task_0044_user_0007_scene_0001_cfg_0005_104122063678#379", "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 of things 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002094/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5966286550410791, -0.8025174440371207 ], [ -0.6702875222587217, -0.7421015008098716 ], [ -0.7153086418252125, 0.6988086626038418 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002095", "id": "RH20T_cfg2_task_0006_user_0013_scene_0008_cfg_0002_105422061350#593", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block down from the table', and now you are performing subtask 'push the small block downward 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002095/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9950534909764732, -0.0993405762794522 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.22366563979647833, -0.9746659333199412 ], [ -0.9866476260477729, 0.16286946311170264 ] ] }, { "task_id": "0002096", "id": "RH20T_cfg4_task_0096_user_0015_scene_0010_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take something out of a drawer and place it on the table', and now you are performing subtask 'pull the drawer handle to the desktop outside'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002096/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998537355512781, 0.054066159892690355 ], [ 0.0367556457359992, -0.9993242829565034 ], [ -0.16439898727833027, 0.9863939236699816 ], [ -0.9559742448539421, -0.2934505804661754 ] ] }, { "task_id": "0002097", "id": "RH20T_cfg4_task_0096_user_0015_scene_0010_cfg_0004_104122062823#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take something out of a drawer and place it on the table', and now you are performing subtask 'pick up the object from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002097/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8906177017334421, 0.4547528002761957 ], [ 0.6138691352495873, -0.7894078063890195 ], [ -0.526354614594984, 0.8502651466534357 ], [ -0.8995015417701934, -0.43691758530991304 ] ] }, { "task_id": "0002098", "id": "RH20T_cfg6_task_0047_user_0014_scene_0009_cfg_0006_104122064161#115", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002098/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.39343669197489867, 0.9193517114836132 ], [ 0.8444281021931508, -0.5356689091467544 ], [ -0.35883839228653613, -0.9333997044252874 ] ] }, { "task_id": "0002099", "id": "RH20T_cfg7_task_0033_user_0020_scene_0004_cfg_0007_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to push another small block onto the black circle', and now you are performing subtask 'push the block to the black circle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002099/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.809004826419969, -0.5878019996811816 ], [ -0.5618545546785393, -0.8272360360785671 ], [ 0.6507913733853803, 0.7592566022829437 ], [ -0.7640466041471208, 0.6451610548469684 ] ] }, { "task_id": "0002100", "id": "RH20T_cfg2_task_0085_user_0014_scene_0003_cfg_0002_105422061350#130", "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 from the assembled bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002100/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8668412214595422, -0.4985842925509477 ], [ 0.4472135952999579, -0.8944271905999158 ], [ -0.3913994424763887, 0.9202208845865062 ], [ 0.9246640577238828, 0.3807839024349689 ] ] }, { "task_id": "0002101", "id": "RH20T_cfg2_task_0044_user_0007_scene_0002_cfg_0002_037522062165#289", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002101/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9993463644374561, -0.03615029578910137 ], [ -0.09276569562854492, 0.995687966038835 ], [ 0.9890238604533467, -0.14775589143570272 ] ] }, { "task_id": "0002102", "id": "RH20T_cfg4_task_0022_user_0016_scene_0005_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'waving the green flag', and now you are performing subtask 'pick up the green flag from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002102/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.27087811264487877, 0.9626136546351025 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.8990043784714513, -0.43793963909328815 ], [ -0.3452254002092426, -0.9385198042931051 ] ] }, { "task_id": "0002103", "id": "RH20T_cfg6_task_0062_user_0014_scene_0006_cfg_0006_104122063633#48", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002103/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997512170114274, 0.022304799576989897 ], [ -0.11975553225455302, -0.9928034107991515 ], [ 0.09950371901109793, 0.9950371901109792 ], [ -0.9986853657593078, -0.05125953782660942 ] ] }, { "task_id": "0002104", "id": "RH20T_cfg4_task_0044_user_0014_scene_0003_cfg_0004_104122062823#134", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002104/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10253813702876592, 0.9947290738963399 ], [ -0.99999999975, 0.0 ], [ 0.9964554899763348, -0.08412167673092544 ], [ -0.12819997824067175, -0.9917483378252223 ] ] }, { "task_id": "0002105", "id": "RH20T_cfg4_task_0122_user_0007_scene_0002_cfg_0004_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002105/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9099206645948981, -0.4147823334511477 ], [ -0.36065562604855256, -0.9326990508194627 ], [ -0.9827049925155182, 0.18517801620353136 ] ] }, { "task_id": "0002106", "id": "RH20T_cfg6_task_0051_user_0014_scene_0009_cfg_0006_104122064161#147", "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 rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002106/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9394618342129908, 0.3426535598197736 ], [ 0.21976310068720217, -0.975553268446345 ], [ -0.21693045779512676, 0.9761870600780704 ], [ -0.9821327159719347, -0.18818960709239774 ] ] }, { "task_id": "0002107", "id": "RH20T_cfg4_task_0116_user_0014_scene_0002_cfg_0004_038522062288#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the correction tape on the paper', and now you are performing subtask 'pick up the correction tape 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002107/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9259687023619749, 0.37760026780456657 ], [ 0.39622805957058843, -0.9181521250908949 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.8261657736299222, -0.563427115501617 ] ] }, { "task_id": "0002108", "id": "RH20T_cfg4_task_0208_user_0010_scene_0001_cfg_0004_104422070011#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the lotus root', and now you are performing subtask 'pick up the knife from the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002108/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8241339308493761, 0.5663949717491812 ], [ 0.6444189718594929, -0.7646726022995424 ], [ -0.8292283677015746, -0.5589099338882627 ], [ -0.5299989399470002, 0.8479983039152004 ] ] }, { "task_id": "0002109", "id": "RH20T_cfg4_task_0112_user_0014_scene_0008_cfg_0004_038522062288#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the charger to the socket', and now you are performing subtask 'pick up the charger 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002109/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, -0.7071067810198809 ], [ -0.704069402929849, 0.710131168065454 ], [ 0.7995164848289859, 0.6006441463018699 ], [ 0.7451753920452918, -0.6668685290896144 ] ] }, { "task_id": "0002110", "id": "RH20T_cfg4_task_0082_user_0007_scene_0009_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scoop water with a large spoon from the basin into the glass bowl', and now you are performing subtask 'pick up the large spoon 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002110/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5390539528196603, 0.8422712365678289 ], [ -0.7525766946360813, 0.6585046078065712 ], [ 0.6759295256447362, -0.7369662654163229 ], [ -0.7011099364646466, -0.7130531936612718 ] ] }, { "task_id": "0002111", "id": "RH20T_cfg2_task_0002_user_0007_scene_0001_cfg_0002_037522062165#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin from the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002111/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7430159268858987, -0.6692737350246826 ], [ 0.7071067806865474, -0.7071067806865474 ], [ -0.7001171324172953, 0.714028011282319 ], [ 0.7890221391335014, 0.6143647645798005 ] ] }, { "task_id": "0002112", "id": "RH20T_cfg7_task_0031_user_0020_scene_0010_cfg_0007_104122064161#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002112/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9049436517765703, -0.42553141729992816 ], [ 0.3939192985274435, 0.9191450298973682 ], [ -0.32418537839798517, -0.9459935731456928 ], [ -0.855674239799495, 0.5175148262065121 ] ] }, { "task_id": "0002113", "id": "RH20T_cfg7_task_0010_user_0020_scene_0004_cfg_0007_104122064161#134", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002113/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9535688828397867, -0.3011750083916012 ], [ -0.04419174631015681, -0.9990230675805533 ], [ -0.9984873338199053, 0.05498221713624445 ] ] }, { "task_id": "0002115", "id": "RH20T_cfg4_task_0110_user_0007_scene_0005_cfg_0004_104122062823#122", "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 from the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002115/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7100311857059481, -0.7041702317799338 ], [ -0.6843713528599443, -0.729133630677292 ], [ -0.7508137709062189, 0.660513952477602 ], [ 0.7071067810615475, 0.7071067810615475 ] ] }, { "task_id": "0002116", "id": "RH20T_cfg5_task_0085_user_0007_scene_0004_cfg_0005_104122063678#287", "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 from the assembled ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002116/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1036414146478183, 0.9946147280076839 ], [ 0.9885325643991132, 0.1510078445727684 ], [ -0.9999999989999999, 0.0 ], [ 0.011680530802433602, -0.9999317802731212 ] ] }, { "task_id": "0002117", "id": "RH20T_cfg4_task_0111_user_0007_scene_0010_cfg_0004_104122062823#103", "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 block shaped like the number 4 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002117/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5828917809361672, 0.8125497964537702 ], [ -0.784882765501003, 0.6196442885534235 ], [ 0.8472497021764183, -0.5311948250519488 ], [ -0.6985628629090818, -0.7155486891639642 ] ] }, { "task_id": "0002118", "id": "RH20T_cfg4_task_0078_user_0007_scene_0008_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the handle of the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002118/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999473684, 0.0 ], [ -0.1183274644769931, -0.992974627646873 ], [ -0.9905507263268515, 0.1371468503952858 ], [ -0.08187534327572947, 0.9966425779402972 ] ] }, { "task_id": "0002119", "id": "RH20T_cfg7_task_0008_user_0020_scene_0004_cfg_0007_104122064161#99", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002119/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9797770272781341, 0.20009242069109603 ], [ 0.16595822948875982, -0.9861327831813301 ], [ -0.9733680322535986, -0.2292480616859334 ] ] }, { "task_id": "0002120", "id": "RH20T_cfg4_task_0128_user_0007_scene_0004_cfg_0004_104122062823#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002120/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6401843995825127, -0.7682212794990152 ], [ -0.7519836702753827, -0.6591817349101571 ], [ -0.6490167699588593, 0.7607741007106967 ], [ 0.7125315265054136, 0.7016400955873782 ] ] }, { "task_id": "0002121", "id": "RH20T_cfg2_task_0014_user_0006_scene_0004_cfg_0002_037522062165#213", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002121/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9985098408188643, 0.05457195055966423 ], [ 0.13265779600980088, -0.9911618985603825 ], [ -0.9999907077061182, 0.004310974532164272 ], [ 0.0, 0.9999999998333333 ] ] }, { "task_id": "0002122", "id": "RH20T_cfg2_task_0073_user_0007_scene_0007_cfg_0002_105422061350#197", "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 '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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002122/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6365075754019887, -0.7712704496192511 ], [ -0.7645464625983622, 0.6445686204961666 ], [ 0.7333372898797381, 0.6798650007698889 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0002123", "id": "RH20T_cfg5_task_0014_user_0007_scene_0005_cfg_0005_104122063678#228", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the Rubik's cube from the scale to the left side of the tablecloth', and now you are performing subtask 'pick up the Rubik's cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002123/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7628074521553724, 0.646625696161411 ], [ 0.5161914692348732, -0.8564732144609912 ], [ -0.6246950474568633, 0.7808688093210792 ], [ -0.6747552429107174, -0.7380415721112862 ] ] }, { "task_id": "0002124", "id": "RH20T_cfg4_task_0094_user_0015_scene_0009_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid above the black 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002124/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.21693045779512676, 0.9761870600780704 ], [ 0.9545442030067518, -0.2980693954538189 ], [ -0.16650711949300792, -0.9860402523011631 ], [ -0.9473112348615418, 0.32031457085980464 ] ] }, { "task_id": "0002125", "id": "RH20T_cfg2_task_0062_user_0007_scene_0004_cfg_0002_105422061350#290", "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 from the top 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002125/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970906296570244, -0.07622516808875232 ], [ -0.02515827539942604, -0.9996834804971655 ], [ 0.0, 0.9999999998 ], [ -0.9897630241290573, 0.14272055236336312 ] ] }, { "task_id": "0002126", "id": "RH20T_cfg7_task_0033_user_0020_scene_0006_cfg_0007_104122064161#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a block to sweep another block onto the mark', and now you are performing subtask 'pick up a block from 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002126/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8566259366523092, -0.5159379852797755 ], [ -0.4810063662828523, -0.8767171012335544 ], [ -0.8398629972025805, 0.5427984395057693 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0002127", "id": "RH20T_cfg4_task_0108_user_0015_scene_0003_cfg_0004_104122062823#143", "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 pencil sharpener 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002127/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6088810605704288, 0.793261529433156 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.753677615909574, 0.6572442858457277 ], [ 0.6637121743958132, -0.7479880677917139 ] ] }, { "task_id": "0002128", "id": "RH20T_cfg1_task_0022_user_0001_scene_0003_cfg_0001_039422060546#199", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002128/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7239713894953262, 0.6898299987621636 ], [ 0.6485617328944279, -0.7611620580566119 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.7515580430635628, -0.6596669674210375 ] ] }, { "task_id": "0002129", "id": "RH20T_cfg1_task_0005_user_0004_scene_0009_cfg_0001_039422060546#201", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small wooden block on the table', and now you are performing subtask 'push the small block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002129/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4676083710337966, -0.8839357506850367 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.9036580177514243, -0.4282548154470263 ], [ -0.31371172808132025, 0.9495182734756776 ] ] }, { "task_id": "0002130", "id": "RH20T_cfg4_task_0073_user_0007_scene_0001_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer and close the drawer', and now you are performing subtask 'pick up the small brown cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002130/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9135949643426895, 0.4066254309898481 ], [ 0.2233428510969444, -0.9747399503785039 ], [ -0.9329525195566014, -0.3599994392398262 ], [ -0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0002131", "id": "RH20T_cfg4_task_0096_user_0007_scene_0009_cfg_0004_104122062823#260", "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 open 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002131/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999473684, 0.0 ], [ 0.024536975894189263, 0.9996989230833291 ], [ 0.9997108514772483, 0.0240460690890484 ], [ -0.034312088195710966, -0.9994111669396384 ] ] }, { "task_id": "0002132", "id": "RH20T_cfg2_task_0002_user_0006_scene_0004_cfg_0002_037522062165#296", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002132/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.9494985515337895, 0.31377141462414276 ], [ 0.31180003168167186, -0.9501477465338264 ], [ -0.8603277720650462, -0.5097412329933629 ] ] }, { "task_id": "0002133", "id": "RH20T_cfg5_task_0013_user_0010_scene_0006_cfg_0005_104122063678#367", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002133/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4471167397173243, -0.8944756123363848 ], [ -0.8529844644151552, 0.5219363021158722 ], [ 0.5659383310216374, 0.824447575944307 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0002134", "id": "RH20T_cfg7_task_0061_user_0014_scene_0002_cfg_0007_104122064161#99", "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 white object in the black 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002134/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.818143211458261, 0.5750145089863067 ], [ 0.46091277377928086, -0.8874454433750221 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.8764389127468494, -0.4815130654749884 ] ] }, { "task_id": "0002135", "id": "RH20T_cfg7_task_0061_user_0014_scene_0002_cfg_0007_104122064161#280", "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 white object on one side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002135/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949490243745017, 0.10038146689617149 ], [ -0.12014835070070849, -0.9927559487728591 ], [ -0.9947819597817116, 0.10202378395676719 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002136", "id": "RH20T_cfg3_task_0071_user_0010_scene_0007_cfg_0003_104122062823#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002136/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3122465914625157, 0.950001087430978 ], [ 0.91729939290401, -0.3981982217161886 ], [ -0.33332374637515316, -0.9428124310287983 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0002137", "id": "RH20T_cfg5_task_0053_user_0007_scene_0004_cfg_0005_104122063678#311", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp and transfer it above the white plate', and now you are performing subtask 'pick up the clamp from the gray plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002137/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6344894538849113, -0.7729315188998488 ], [ -0.8024166430107846, -0.5967642172745474 ], [ -0.7262933450545751, 0.6873848826744999 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002138", "id": "RH20T_cfg4_task_0086_user_0007_scene_0009_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the old rotary phone stick 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002138/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5368754921519828, 0.8436614876674016 ], [ 0.8568279891601646, 0.5156023632526804 ], [ 0.6481509709885056, -0.7615118638646791 ], [ -0.799036088899211, -0.6012830686429249 ] ] }, { "task_id": "0002139", "id": "RH20T_cfg4_task_0200_user_0017_scene_0006_cfg_0004_104122062823#243", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002139/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7959603834057231, -0.6053487160708398 ], [ -0.6002925846849878, -0.7997804778639053 ], [ -0.7856266340109194, 0.6187008905219653 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002140", "id": "RH20T_cfg2_task_0021_user_0003_scene_0008_cfg_0002_037522062165#185", "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 it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002140/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5355622869091928, -0.8444957293205191 ], [ -0.9408919009726548, 0.33870699828031875 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.31024169860672396, 0.950657713609696 ] ] }, { "task_id": "0002141", "id": "RH20T_cfg4_task_0217_user_0014_scene_0008_cfg_0004_038522062288#168", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002141/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.9248814441982159, -0.3802555905937775 ], [ -0.4436227082012499, -0.8962136423689324 ], [ -0.8740068784386528, 0.48591354832101785 ] ] }, { "task_id": "0002142", "id": "RH20T_cfg4_task_0016_user_0016_scene_0008_cfg_0004_104122062823#110", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002142/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999285715, 0.0 ], [ 0.12597073960028102, -0.992033957465448 ], [ -0.9996765516081862, -0.025432108932715185 ], [ 0.10155269847754442, 0.9948301610988325 ] ] }, { "task_id": "0002143", "id": "RH20T_cfg3_task_0015_user_0011_scene_0001_cfg_0003_104122062823#158", "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 drumhead'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002143/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999113884677926, -0.013312220416266002 ], [ -0.028800825730377646, -0.9995851701767331 ], [ 0.11043152606265141, 0.9938837345638627 ], [ -0.9834651942515659, 0.18109724375519895 ] ] }, { "task_id": "0002144", "id": "RH20T_cfg4_task_0086_user_0007_scene_0003_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a stick from the desk and turn the dial on the rotary phone in a clockwise direction', and now you are performing subtask 'pick up the jar from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002144/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14262686450833256, -0.9897765290814496 ], [ -0.9999481618215676, -0.010182026795684434 ], [ 0.9999999989999999, 0.0 ], [ -0.03787756094919409, 0.9992823877045668 ] ] }, { "task_id": "0002145", "id": "RH20T_cfg7_task_0004_user_0020_scene_0008_cfg_0007_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block from under the table to above the table', and now you are performing subtask 'pick up the small block from the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002145/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8686425460019637, -0.495439327541957 ], [ -0.5514843782086432, -0.8341852195956401 ], [ -0.9097131360930603, 0.41523729362826917 ], [ 0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0002146", "id": "RH20T_cfg5_task_0048_user_0010_scene_0009_cfg_0005_104122063678#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002146/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7453305973515706, 0.6666950582174365 ], [ 0.6843177602396332, -0.7291839294859781 ], [ -0.7210756426359634, -0.6928563470136738 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002147", "id": "RH20T_cfg3_task_0012_user_0011_scene_0004_cfg_0003_104122062823#156", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002147/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7077769088885814, 0.7064360177992944 ], [ -0.7071067811240475, 0.7071067811240475 ], [ 0.6996351872594601, -0.7145002482493763 ], [ -0.7019014138003761, -0.7122741082652333 ] ] }, { "task_id": "0002148", "id": "RH20T_cfg6_task_0038_user_0014_scene_0007_cfg_0006_104122064161#117", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002148/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993614013829644, -0.0357321903313748 ], [ 0.0, 0.9999999995 ], [ 0.0262826592113011, -0.9996545512449702 ], [ -0.9926431013413488, -0.1210771380543358 ] ] }, { "task_id": "0002149", "id": "RH20T_cfg7_task_0016_user_0020_scene_0008_cfg_0007_104122064161#90", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002149/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9025273518508554, -0.4306325337931195 ], [ -0.37027409508390274, -0.9289225449464541 ], [ 0.3846153846005917, 0.9230769230414201 ], [ -0.9141413548155972, 0.4053955887968003 ] ] }, { "task_id": "0002150", "id": "RH20T_cfg4_task_0066_user_0015_scene_0002_cfg_0004_104122062823#117", "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 Megablock from the middle position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002150/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8463710913696376, -0.5325936309173896 ], [ -0.5658191137821311, -0.8245293994023524 ], [ -0.8857417182756452, 0.4641784231371679 ], [ 0.4961389382952954, 0.8682431420167669 ] ] }, { "task_id": "0002151", "id": "RH20T_cfg4_task_0066_user_0015_scene_0002_cfg_0004_104122062823#287", "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 small Megablock from the bottom left 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002151/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999557675869447, -0.009405470195815365 ], [ -0.08304547984684342, 0.996545758162121 ], [ -0.052847974796499296, -0.9986025693737768 ], [ -0.9860705605801072, -0.1663275369781964 ] ] }, { "task_id": "0002152", "id": "RH20T_cfg4_task_0126_user_0010_scene_0006_cfg_0004_104122062823#122", "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 cord 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002152/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ 0.11792234769943273, -0.9930228194321892 ], [ -0.9964338556261586, -0.08437755247687498 ], [ 0.04981474519686498, 0.998758474888184 ] ] }, { "task_id": "0002153", "id": "RH20T_cfg3_task_0024_user_0010_scene_0008_cfg_0003_104122062823#147", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002153/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991801732589937, -0.04048433482382335 ], [ 0.01653093925189577, -0.9998633546877544 ], [ 0.0, 0.9999999998571428 ], [ -0.9955637536177466, 0.09408938559977344 ] ] }, { "task_id": "0002154", "id": "RH20T_cfg3_task_0067_user_0010_scene_0009_cfg_0003_104122062823#129", "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 central green button from top to bottom while going around the obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002154/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9758591530320969, 0.21840080916397417 ], [ 0.4386826585240974, -0.8986420450380843 ], [ -0.30320365726381376, 0.9529257799719861 ], [ -0.9767387008981515, -0.21443299691929774 ] ] }, { "task_id": "0002155", "id": "RH20T_cfg4_task_0202_user_0010_scene_0010_cfg_0004_104122062823#417", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a small pipette into the holder for small pipette tips', and now you are performing subtask 'pick up the small pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002155/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9770776571088199, -0.21288318857706784 ], [ -0.2991700251886245, -0.9541998197592776 ], [ 0.29408584881590144, 0.9557790086516798 ], [ -0.9184243604308248, 0.39559663063179723 ] ] }, { "task_id": "0002156", "id": "RH20T_cfg5_task_0074_user_0007_scene_0010_cfg_0005_104122063678#299", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002156/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3105812130980897, 0.9505468479094121 ], [ 0.8373716937902639, -0.5466339236077693 ], [ -0.8944271907999158, 0.4472135953999579 ], [ -0.31971866718413283, -0.9475125191014637 ] ] }, { "task_id": "0002157", "id": "RH20T_cfg7_task_0036_user_0020_scene_0007_cfg_0007_104122064161#74", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the test tube', and now you are performing subtask 'pick up the test tube from the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002157/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359548329126, 0.8944271909665825 ], [ 0.9327352868796573, -0.36056190121742404 ], [ -0.3636003687284885, -0.9315550288955061 ], [ -0.8867328367410503, 0.46228224738266765 ] ] }, { "task_id": "0002160", "id": "RH20T_cfg5_task_0010_user_0007_scene_0007_cfg_0005_104122063678#257", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002160/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8819464217307814, 0.4713496676526574 ], [ 0.40202297931862685, -0.9156295779952585 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.8135803441515034, -0.58145251191333 ] ] }, { "task_id": "0002161", "id": "RH20T_cfg5_task_0064_user_0007_scene_0002_cfg_0005_104122063678#205", "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 down the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002161/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998333333 ], [ 0.989560595253428, -0.14411741158403157 ], [ -0.07798315707930262, -0.9969546766086935 ], [ -0.9970959182653113, 0.07615595694793328 ] ] }, { "task_id": "0002162", "id": "RH20T_cfg2_task_0076_user_0014_scene_0001_cfg_0002_105422061350#285", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the blue block forward and press', and now you are performing subtask 'pick up the blue block from the mat'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002162/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0569833496095337, -0.9983751288304801 ], [ 0.9999999995, 0.0 ], [ -0.9978185569299036, 0.06601611505022638 ], [ -0.0785681917114598, 0.9969087416866156 ] ] }, { "task_id": "0002163", "id": "RH20T_cfg2_task_0015_user_0006_scene_0001_cfg_0002_037522062165#211", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002163/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9075271826848402, -0.4199933483855628 ], [ -0.5195556983859089, -0.8544365841153635 ], [ -0.9264130957570171, 0.37650866658006665 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002164", "id": "RH20T_cfg4_task_0005_user_0010_scene_0008_cfg_0004_038522062288#68", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002164/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3022784479313272, -0.9532196703363963 ], [ -0.9999537613412703, -0.009616401585092842 ], [ -0.2138898736128739, 0.9768577798051612 ], [ 0.9883716975754727, 0.1520571842423804 ] ] }, { "task_id": "0002165", "id": "RH20T_cfg2_task_0009_user_0003_scene_0010_cfg_0002_104122061850#217", "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 a Hanoi block from the blue and white 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002165/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.025635138948140457, 0.9996713658253444 ], [ 0.9999977448858717, 0.002123728601138386 ], [ -0.9999999989999999, 0.0 ], [ -0.15372962827508088, -0.9881129497129392 ] ] }, { "task_id": "0002166", "id": "RH20T_cfg6_task_0055_user_0014_scene_0006_cfg_0006_104122063633#100", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002166/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990012846393054, 0.140977175375035 ], [ 0.0, 0.9999999998571428 ], [ -0.153533469920814, -0.9881434478931056 ], [ -0.999954642704914, -0.009524312725231708 ] ] }, { "task_id": "0002167", "id": "RH20T_cfg2_task_0001_user_0007_scene_0007_cfg_0002_037522062165#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002167/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.03233396574470058, -0.9994771206281915 ], [ -0.9978289029265108, -0.0658595512015973 ], [ 0.08845725509495424, 0.9960799737074661 ] ] }, { "task_id": "0002169", "id": "RH20T_cfg4_task_0033_user_0016_scene_0002_cfg_0004_038522062288#111", "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 the larger block to sweep the smaller block onto the mark'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002169/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.957175186335375, -0.2895093481458591 ], [ -0.22253184357247033, -0.9749254220689076 ], [ 0.35112344154729586, 0.9363291774594555 ], [ -0.956115761116258, 0.29298916591757923 ] ] }, { "task_id": "0002170", "id": "RH20T_cfg2_task_0022_user_0007_scene_0008_cfg_0002_037522062165#127", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002170/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999990201920942, 0.0013998624402517747 ], [ 0.0783534186753142, 0.9969256450618025 ], [ 0.9998980301525691, -0.014280381542947317 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0002172", "id": "RH20T_cfg4_task_0126_user_0007_scene_0008_cfg_0004_104122062823#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the power cord', and now you are performing subtask 'pick up the power cord on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002172/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3317639805182333, -0.9433624230542031 ], [ -0.9071762420336233, 0.4207508358752874 ], [ 0.2748802283006502, 0.961478476144621 ], [ 0.9486832977505137, -0.31622776591683793 ] ] }, { "task_id": "0002173", "id": "RH20T_cfg2_task_0101_user_0007_scene_0004_cfg_0002_105422061350#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide a cloth 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002173/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.589205036238744, 0.807983555074545 ], [ 0.6106539921334929, -0.7918975324443359 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.6027384871967256, -0.797938792171306 ] ] }, { "task_id": "0002174", "id": "RH20T_cfg4_task_0031_user_0016_scene_0001_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002174/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41380294426693737, 0.9103664773872623 ], [ 0.88108797714998, -0.47295240407651634 ], [ -0.46425704475975427, -0.8857005116804096 ], [ -0.9560374597501462, 0.2932445661124648 ] ] }, { "task_id": "0002175", "id": "RH20T_cfg1_task_0090_user_0001_scene_0008_cfg_0001_039422060546#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the upright paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002175/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8617415910151971, -0.5073474453612602 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.31947206506055287, -0.947595694189218 ], [ -0.9743148344346411, 0.22519014943064894 ] ] }, { "task_id": "0002176", "id": "RH20T_cfg4_task_0096_user_0015_scene_0005_cfg_0004_104122062823#123", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002176/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9395407714542799, 0.342437058121776 ], [ -0.2982749931181532, 0.9544799779780903 ], [ 0.16221501897030277, -0.9867554345532962 ], [ -0.9782449294459863, -0.20745326705843217 ] ] }, { "task_id": "0002177", "id": "RH20T_cfg4_task_0096_user_0015_scene_0005_cfg_0004_104122062823#235", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002177/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8574929255654853, -0.5144957553392911 ], [ -0.3850096968199268, -0.9229125274665135 ], [ -0.7721841673046658, 0.6353987816828106 ], [ 0.6141482720467327, 0.7891906613373048 ] ] }, { "task_id": "0002178", "id": "RH20T_cfg5_task_0100_user_0007_scene_0009_cfg_0005_037522062165#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a spoon', and now you are performing subtask 'stir the beaker with a spoon'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002178/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5333311711629106, -0.8459065325826478 ], [ 0.8944271907999158, 0.4472135953999579 ], [ -0.8326458077149962, -0.5538058855724103 ], [ -0.4334680078284126, 0.9011689554069576 ] ] }, { "task_id": "0002179", "id": "RH20T_cfg6_task_0083_user_0007_scene_0002_cfg_0006_104122064161#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002179/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6547707683663284, 0.7558275205977669 ], [ -0.7071067810865475, 0.7071067810865475 ], [ 0.6052980267368867, -0.7959989314241767 ], [ -0.7592437507875315, -0.6508063666637574 ] ] }, { "task_id": "0002180", "id": "RH20T_cfg2_task_0006_user_0007_scene_0005_cfg_0002_037522062165#120", "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 'push the small piece from left to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002180/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9479658079265378, -0.3183721517378464 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.5752876147889104, -0.817951196753502 ], [ -0.8439058085456934, 0.5364913664755842 ] ] }, { "task_id": "0002181", "id": "RH20T_cfg2_task_0041_user_0007_scene_0002_cfg_0002_037522062165#341", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002181/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.052270316253225244, -0.9986329726374891 ], [ -0.996199046672728, 0.08710602394982817 ], [ 0.14048985733444017, 0.9900821177994019 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0002182", "id": "RH20T_cfg4_task_0101_user_0015_scene_0002_cfg_0004_038522062288#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide a cloth on the tabletop for cleaning'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002182/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8856165477040497, -0.4644171943767377 ], [ -0.35086356561825033, -0.9364265899266465 ], [ -0.9158571651551825, 0.4015042378778995 ], [ 0.37139067634425155, 0.9284766908606289 ] ] }, { "task_id": "0002183", "id": "RH20T_cfg3_task_0013_user_0010_scene_0006_cfg_0003_038522062288#107", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002183/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9907122935157124, -0.13597481927488275 ], [ 0.09091759327892215, -0.9958584192707157 ], [ -0.9987061183326188, 0.05085360562431422 ] ] }, { "task_id": "0002185", "id": "RH20T_cfg4_task_0013_user_0016_scene_0009_cfg_0004_038522062288#134", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002185/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.885131275757046, 0.46534140657876594 ], [ 0.6187729451630832, -0.7855698838004191 ], [ -0.9015662232682479, -0.43264112733514815 ], [ -0.5038710254878168, 0.8637789008362573 ] ] }, { "task_id": "0002186", "id": "RH20T_cfg5_task_0070_user_0007_scene_0002_cfg_0005_037522062165#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pull the window 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002186/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.39852843098001195, -0.9171559789373942 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9479585034637812, 0.3183939002410512 ], [ 0.4183091415268125, 0.908304718756377 ] ] }, { "task_id": "0002187", "id": "RH20T_cfg1_task_0041_user_0014_scene_0009_cfg_0001_039422060546#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'grab the sponge 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002187/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9957440267855207, 0.09216199390722969 ], [ -0.09815165085240542, -0.9951714693634196 ], [ -0.9917284590597181, 0.12835366567043177 ] ] }, { "task_id": "0002188", "id": "RH20T_cfg2_task_0094_user_0007_scene_0001_cfg_0002_037522062165#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'open the opening of the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002188/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.99999999975, 0.0 ], [ 0.14463867519454895, 0.9894845393627764 ], [ 0.9980502098705115, -0.06241617240289553 ], [ -0.001879969331899607, -0.9999982328560942 ] ] }, { "task_id": "0002189", "id": "RH20T_cfg3_task_0008_user_0016_scene_0002_cfg_0003_104122062823#142", "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 'push the block to the target area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002189/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5670602063751558, 0.8236763456271923 ], [ 0.7929518931786462, 0.6092842481998044 ], [ 0.667715500632803, -0.7444165569186953 ], [ -0.7808688093210792, -0.6246950474568633 ] ] }, { "task_id": "0002190", "id": "RH20T_cfg3_task_0077_user_0010_scene_0003_cfg_0003_104122062823#170", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the blue 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002190/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9957370087605752, 0.09223778718368156 ], [ 0.018328796951325693, -0.999832013491425 ], [ 0.0, 0.9999999996666666 ], [ -0.9997077937190266, 0.024172860348666763 ] ] }, { "task_id": "0002191", "id": "RH20T_cfg2_task_0005_user_0002_scene_0008_cfg_0002_104122061850#90", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002191/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.995479172383091, 0.09498008923704045 ], [ 0.2187027019305178, -0.9757915392993993 ], [ -0.995398817616335, -0.095818546680705 ], [ -0.1414213562323095, 0.9899494936261665 ] ] }, { "task_id": "0002192", "id": "RH20T_cfg2_task_0008_user_0007_scene_0005_cfg_0002_037522062165#140", "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 flag on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002192/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995309042222918, -0.03062632045427215 ], [ 0.0, 0.9999999996666666 ], [ 0.04763182578872797, -0.9988649604286018 ], [ -0.9945963500160346, -0.1038176311364382 ] ] }, { "task_id": "0002193", "id": "RH20T_cfg4_task_0092_user_0014_scene_0002_cfg_0004_038522062288#97", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002193/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.601350615835771, -0.7989852544533841 ], [ 0.707106781130992, -0.707106781130992 ], [ -0.6263692509029463, 0.7795264982816696 ], [ 0.6546613191374123, 0.755922322216551 ] ] }, { "task_id": "0002194", "id": "RH20T_cfg5_task_0032_user_0010_scene_0008_cfg_0005_104122063678#183", "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 packaging 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002194/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9914139700962202, -0.13076062059370527 ], [ 0.0, -0.9999999989999999 ], [ 0.040929769109121376, 0.9991620259000409 ], [ 0.9995927845579183, -0.028535330026951446 ] ] }, { "task_id": "0002195", "id": "RH20T_cfg1_task_0004_user_0009_scene_0002_cfg_0001_750612070853#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002195/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9950371901109792, -0.09950371901109793 ], [ -0.15779176282695312, -0.9874724095304955 ], [ -0.9839434744390315, 0.17848036056901895 ], [ -0.03435343461158678, 0.9994097465656353 ] ] }, { "task_id": "0002196", "id": "RH20T_cfg2_task_0082_user_0014_scene_0008_cfg_0002_037522062165#70", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002196/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.27269281799526746, -0.9621011521736164 ], [ 0.9805806755947664, 0.19611613511895326 ], [ -0.9848934524933655, -0.1731614484684705 ], [ -0.26349374127160496, 0.9646611054202884 ] ] }, { "task_id": "0002197", "id": "RH20T_cfg4_task_0059_user_0016_scene_0001_cfg_0004_038522062288#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'pick up the button on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002197/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6437138768027512, 0.7652662574630953 ], [ 0.6135169623160233, -0.7896815414776512 ], [ -0.8077128314376025, -0.589576103595669 ] ] }, { "task_id": "0002198", "id": "RH20T_cfg4_task_0096_user_0015_scene_0007_cfg_0004_038522062288#85", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002198/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9147559479440361, 0.4040068758090731 ], [ 0.4304090916030356, 0.9026339312619761 ], [ -0.4472135954499579, -0.8944271908999158 ], [ 0.9375565223527704, -0.34783295903893174 ] ] }, { "task_id": "0002199", "id": "RH20T_cfg4_task_0096_user_0015_scene_0007_cfg_0004_038522062288#432", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002199/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8597134846034064, -0.5107765895096099 ], [ -0.6786976031007423, 0.7344178398876946 ], [ 0.7865333746566457, 0.6175477718777945 ], [ 0.6139406134610743, -0.7893522173070956 ] ] }, { "task_id": "0002200", "id": "RH20T_cfg4_task_0121_user_0007_scene_0010_cfg_0004_104122062823#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'taking out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002200/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.8302194458025255, 0.5574366975821986 ], [ 0.3928188304697137, -0.9196158798261405 ], [ -0.93792191675173, -0.3468464762351795 ] ] }, { "task_id": "0002201", "id": "RH20T_cfg3_task_0014_user_0010_scene_0003_cfg_0003_038522062288#94", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002201/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.854015279889682, 0.5202479233163245 ], [ 0.7111988064370585, -0.7029909371553117 ], [ -0.7437195086760222, -0.6684918042988233 ], [ -0.59999999988, 0.79999999984 ] ] }, { "task_id": "0002202", "id": "RH20T_cfg3_task_0005_user_0016_scene_0001_cfg_0003_104122062823#154", "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 square a little bit forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002202/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.630606621420666, -0.7761026278917067 ], [ -0.8828132877058339, -0.4697240669265486 ], [ 0.8050558373192567, 0.5931990380247154 ], [ -0.6599841249060381, 0.7512795450909143 ] ] }, { "task_id": "0002203", "id": "RH20T_cfg4_task_0044_user_0014_scene_0008_cfg_0004_038522062288#130", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002203/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.46825295578981546, -0.883594459802743 ], [ 0.9230769230059171, -0.3846153845857988 ], [ -0.8687613830254921, 0.49523091519374507 ], [ 0.32272998859255164, 0.9464910746874752 ] ] }, { "task_id": "0002204", "id": "RH20T_cfg3_task_0007_user_0016_scene_0005_cfg_0003_036422060909#234", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002204/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8144101871167592, -0.5802896234816245 ], [ -0.5676703498225719, -0.8232559589412753 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.8507817375556049, 0.5255192052074461 ] ] }, { "task_id": "0002205", "id": "RH20T_cfg1_task_0004_user_0012_scene_0008_cfg_0001_750612070853#215", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002205/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9738492669700719, -0.22719508186105966 ], [ -0.24801576114876206, -0.9687559972572043 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9975457609764765, 0.07001753178927685 ] ] }, { "task_id": "0002206", "id": "RH20T_cfg4_task_0063_user_0015_scene_0003_cfg_0004_104122062823#166", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002206/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.004989326948499074, -0.9999875532308395 ], [ -0.9995595662941195, -0.02967614243650534 ], [ -0.08928649123489583, 0.9960059851642263 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0002207", "id": "RH20T_cfg6_task_0031_user_0014_scene_0002_cfg_0006_104122064161#71", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'fold the paper block on the cardboard box to cover the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002207/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271908665825, -0.44721359543329126 ], [ -0.502147619133022, 0.8647819196763064 ], [ 0.9399251300219184, 0.3413806525760945 ], [ 0.387651882955251, -0.9218058459574058 ] ] }, { "task_id": "0002208", "id": "RH20T_cfg7_task_0005_user_0020_scene_0005_cfg_0007_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grab the small block on the table', and now you are performing subtask 'pick up the small block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002208/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9807546278357251, 0.1952443596593983 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.27310762961759827, -0.96198348356126 ], [ -0.9691488454182358, -0.24647619646631302 ] ] }, { "task_id": "0002209", "id": "RH20T_cfg6_task_0060_user_0014_scene_0003_cfg_0006_104122064161#194", "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 knob counterclockwise to decrease the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002209/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.37711259538253944, 0.9261674202884947 ], [ 0.8359894285303259, 0.54874554703026 ], [ 0.3180986777174688, -0.9480576096600871 ], [ -0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0002210", "id": "RH20T_cfg4_task_0071_user_0015_scene_0005_cfg_0004_038522062288#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the sliding window', and now you are performing subtask 'push the sliding window to the open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002210/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.051940337828858776, -0.9986501896591339 ], [ 0.9999999989999999, 0.0 ], [ -0.9984879470399757, 0.05497107981379659 ], [ 0.05571613608856971, 0.9984466496410112 ] ] }, { "task_id": "0002211", "id": "RH20T_cfg2_task_0073_user_0007_scene_0005_cfg_0002_105422061350#306", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002211/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999161286630095, 0.012951279457259853 ], [ 0.007188690226661729, -0.9999741610325864 ], [ -0.9968923141140712, -0.0787763547029944 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002212", "id": "RH20T_cfg2_task_0073_user_0007_scene_0005_cfg_0002_105422061350#624", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'push the drawer to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002212/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6250093367669418, -0.7806172743119048 ], [ 0.8137334711121403, 0.5812381936515288 ], [ -0.8120690434128842, -0.5835613667220297 ], [ -0.5381536323363758, 0.8428467642479057 ] ] }, { "task_id": "0002213", "id": "RH20T_cfg3_task_0046_user_0010_scene_0007_cfg_0003_038522062288#97", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002213/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8074629027601551, 0.5899183508470849 ], [ -0.6389010030191339, 0.7692889628189572 ], [ 0.6712502818736636, -0.7412307731634779 ], [ -0.8247407174609428, -0.565511051140479 ] ] }, { "task_id": "0002214", "id": "RH20T_cfg2_task_0091_user_0007_scene_0004_cfg_0002_037522062165#380", "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 pink 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002214/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14807783748482625, 0.9889757095327556 ], [ 0.9969146213973374, 0.0784935516090542 ], [ -0.034518610283166135, -0.9994040551969553 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002215", "id": "RH20T_cfg4_task_0014_user_0010_scene_0007_cfg_0004_038522062288#136", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002215/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9982997289305466, -0.05828937482249286 ], [ -0.14221975919928043, 0.9898351075271572 ], [ 0.9987002327195049, -0.050969060870362834 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0002216", "id": "RH20T_cfg4_task_0201_user_0010_scene_0007_cfg_0004_038522062288#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002216/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5491422790424455, -0.8357288779072247 ], [ -0.8192426571414724, -0.5734470060256484 ], [ -0.5197780102125819, 0.854301363746687 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002218", "id": "RH20T_cfg7_task_0010_user_0014_scene_0006_cfg_0007_104122064161#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002218/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9504760144893337, 0.3107979180761544 ], [ 0.3714337092702708, -0.9284594765619704 ], [ -0.31622776596683794, 0.9486832979005138 ], [ -0.9445418486825492, -0.32839107187521466 ] ] }, { "task_id": "0002219", "id": "RH20T_cfg7_task_0013_user_0014_scene_0003_cfg_0007_104122064161#86", "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 left side of the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002219/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9456927725868649, -0.32506180931781 ], [ 0.28734788555258395, 0.9578262851752798 ], [ -0.1619810603263338, -0.9867938670743533 ], [ -0.9710532933244388, 0.23886293459589217 ] ] }, { "task_id": "0002220", "id": "RH20T_cfg4_task_0074_user_0007_scene_0010_cfg_0004_038522062288#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the green button on the white base', and now you are performing subtask 'press the green button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002220/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ 0.01688506226275252, 0.9998574371741119 ], [ 0.9983819087536666, 0.05686443768635494 ], [ -0.006297035125995893, -0.9999801734777656 ] ] }, { "task_id": "0002221", "id": "RH20T_cfg7_task_0013_user_0020_scene_0009_cfg_0007_104122064161#108", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002221/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953879591627011, -0.0959312814149428 ], [ -0.1735608126257385, -0.9848231538305207 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.952942605619136, 0.3031507717222768 ] ] }, { "task_id": "0002222", "id": "RH20T_cfg4_task_0046_user_0014_scene_0014_cfg_0004_104122062823#88", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002222/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999583333, 0.0 ], [ -0.030343445498725627, -0.9995395316420786 ], [ -0.9911911243263202, 0.13243925043855165 ], [ 0.06870435078988978, 0.9976370643588478 ] ] }, { "task_id": "0002223", "id": "RH20T_cfg4_task_0046_user_0014_scene_0012_cfg_0004_038522062288#338", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002223/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8574929255654853, 0.5144957553392911 ], [ 0.47614799114381773, -0.8793651633591741 ], [ -0.9137051513854754, -0.4063777753908861 ], [ -0.4909244707675422, 0.8712021372802116 ] ] }, { "task_id": "0002224", "id": "RH20T_cfg2_task_0073_user_0014_scene_0006_cfg_0002_037522062165#122", "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 object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002224/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, -0.7071067806865474 ], [ -0.6162468466529004, 0.787553061063416 ], [ 0.6933405757953868, 0.7206100512452777 ], [ 0.8051704672409155, -0.5930434374335879 ] ] }, { "task_id": "0002225", "id": "RH20T_cfg2_task_0073_user_0014_scene_0006_cfg_0002_037522062165#245", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the object in 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002225/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.035315479836348036, -0.9993762138874072 ], [ -0.9999963559504396, -0.0026996455030212554 ], [ 0.9999999995, 0.0 ], [ 0.12419112296928334, 0.992258315649523 ] ] }, { "task_id": "0002226", "id": "RH20T_cfg2_task_0075_user_0014_scene_0010_cfg_0002_105422061350#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the chess 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002226/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3939192985274435, 0.9191450298973682 ], [ 0.9399203410772268, -0.3413938377142589 ], [ -0.49222711479602643, -0.8704668100850138 ], [ -0.9287902035994225, 0.3706059331658671 ] ] }, { "task_id": "0002227", "id": "RH20T_cfg5_task_0012_user_0010_scene_0009_cfg_0005_037522062165#299", "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 towards 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002227/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6768272118662907, 0.736141919250156 ], [ -0.8137334711121403, 0.5812381936515288 ], [ 0.8157832079584753, -0.5783578110590183 ], [ -0.5719771466897053, -0.8202695554905737 ] ] }, { "task_id": "0002228", "id": "RH20T_cfg1_task_0011_user_0008_scene_0004_cfg_0001_750612070853#116", "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 left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002228/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8137334711121403, -0.5812381936515288 ], [ -0.6737278713569642, -0.7389795364939505 ], [ -0.7929210855312432, 0.6093243406593527 ], [ 0.6508732108714598, 0.7591864483576326 ] ] }, { "task_id": "0002229", "id": "RH20T_cfg4_task_0013_user_0010_scene_0008_cfg_0004_104122062823#111", "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 next to 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002229/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9712524372047565, -0.23805189187196207 ], [ 0.16439898729634828, 0.9863939237780897 ], [ -0.12114130624567035, -0.9926352723538957 ], [ -0.9871576837883442, 0.15974888837682583 ] ] }, { "task_id": "0002230", "id": "RH20T_cfg5_task_0062_user_0007_scene_0008_cfg_0005_104122063678#230", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002230/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9964887924846828, 0.08372625903752633 ], [ 0.01500812656024216, -0.9998873717260119 ], [ -0.9991779055717609, 0.04054026414848869 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002231", "id": "RH20T_cfg7_task_0010_user_0020_scene_0006_cfg_0007_104122064161#129", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002231/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9914993331541768, -0.13011176870223004 ], [ -0.06725113477200632, -0.9977360797685315 ], [ 0.0, 0.9999999995 ], [ -0.9924353809017474, 0.12276813403486914 ] ] }, { "task_id": "0002232", "id": "RH20T_cfg4_task_0122_user_0007_scene_0006_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002232/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6302771857219851, 0.7763701882210409 ], [ -0.7071067811448809, 0.7071067811448809 ], [ 0.6526903263128756, -0.7576248002392689 ], [ -0.7881093437813659, -0.6155352648260738 ] ] }, { "task_id": "0002233", "id": "RH20T_cfg2_task_0002_user_0007_scene_0003_cfg_0002_037522062165#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'grab the tissue from the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002233/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9694024455383734, -0.24547687993825607 ], [ -0.42528860081036707, -0.9050577915364081 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9073429554817597, 0.42039120011915726 ] ] }, { "task_id": "0002234", "id": "RH20T_cfg4_task_0002_user_0010_scene_0001_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin and place it on the table', and now you are performing subtask 'pick up the napkin from the tissue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002234/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.36734226043789686, -0.9300858367357157 ], [ -0.9309580235892373, -0.36512622244207715 ], [ 0.8762159086382594, 0.48191874975104265 ], [ -0.5252013667735459, 0.8509779811130246 ] ] }, { "task_id": "0002235", "id": "RH20T_cfg2_task_0074_user_0014_scene_0009_cfg_0002_105422061350#65", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the lower panel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002235/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9859545130806774, -0.16701406568263802 ], [ 0.31622776599683794, 0.9486832979905138 ], [ -0.22454265010724386, -0.9744642621886223 ], [ -0.9126469599141515, 0.40874873279247886 ] ] }, { "task_id": "0002236", "id": "RH20T_cfg4_task_0039_user_0010_scene_0003_cfg_0004_038522062288#93", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002236/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9981177400080613, -0.061326805568203385 ], [ 0.13934238167306448, 0.9902442631339391 ], [ 0.0, -0.999999999875 ], [ 0.9947876771720758, 0.10196802119579378 ] ] }, { "task_id": "0002237", "id": "RH20T_cfg5_task_0001_user_0007_scene_0002_cfg_0005_104122063678#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002237/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9026733912533826, -0.4303263281779512 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.6583426151378132, -0.7527184075691953 ], [ -0.8889281818582104, 0.45804659970166384 ] ] }, { "task_id": "0002238", "id": "RH20T_cfg7_task_0004_user_0014_scene_0010_cfg_0007_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the big block from underneath the table and place it on top of the table', and now you are performing subtask 'pick up the large 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002238/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2747211278596422, 0.9615239475087477 ], [ 0.9768867169446463, 0.2137576718087807 ], [ 0.36563188169614047, -0.9307595431083904 ], [ -0.9819483282409565, -0.18914936073058983 ] ] }, { "task_id": "0002239", "id": "RH20T_cfg2_task_0008_user_0003_scene_0002_cfg_0002_104122061850#321", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002239/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953964271728467, -0.09584337625277854 ], [ 0.03671304778030448, -0.9993258488214348 ], [ -0.9984151715721772, 0.05627739488018245 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002240", "id": "RH20T_cfg4_task_0067_user_0007_scene_0009_cfg_0004_104122062823#128", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002240/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9366013090385523, 0.35039690053890327 ], [ 0.3530013384078548, -0.9356228166746807 ], [ -0.9704424416678176, -0.24133269030490787 ], [ -0.35112344154729586, 0.9363291774594555 ] ] }, { "task_id": "0002241", "id": "RH20T_cfg2_task_0006_user_0013_scene_0002_cfg_0002_037522062165#298", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002241/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9955701485566215, -0.09402169591613807 ], [ 0.11078892900669958, -0.9938439581793252 ], [ -0.9988259561198785, -0.04844284654322837 ] ] }, { "task_id": "0002242", "id": "RH20T_cfg4_task_0209_user_0007_scene_0009_cfg_0004_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002242/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5299989399470002, 0.8479983039152004 ], [ 0.7966905500481815, 0.6043874315899744 ], [ 0.48019032418280144, -0.8771643247198418 ], [ -0.8521266944479665, -0.5233355487726608 ] ] }, { "task_id": "0002243", "id": "RH20T_cfg7_task_0073_user_0014_scene_0006_cfg_0007_104122064161#107", "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 colored cube from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002243/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9874280915241875, -0.15806885863097994 ], [ 0.09950371901109793, 0.9950371901109792 ], [ -0.11282012638259481, -0.9936154281627351 ], [ -0.9858599873043571, 0.16757113543881283 ] ] }, { "task_id": "0002244", "id": "RH20T_cfg5_task_0049_user_0007_scene_0010_cfg_0005_037522062165#453", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002244/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09568435794205295, -0.9954117256920461 ], [ 0.9999999989999999, 0.0 ], [ -0.9952881072588898, -0.09696176333491793 ], [ 0.1313316803971988, 0.9913384839317235 ] ] }, { "task_id": "0002245", "id": "RH20T_cfg6_task_0130_user_0014_scene_0003_cfg_0006_104122064161#102", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002245/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9795160532226146, -0.20136608820551777 ], [ 0.35112344154729586, 0.9363291774594555 ], [ -0.4042642004867248, -0.9146422558600872 ], [ -0.9517120273182654, 0.30699221009295524 ] ] }, { "task_id": "0002246", "id": "RH20T_cfg6_task_0130_user_0014_scene_0003_cfg_0006_104122064161#228", "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 'insert the lamp holder into 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002246/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9967599627796611, -0.08043367826656107 ], [ 0.11937183759894808, 0.9928496182142844 ], [ 0.0, -0.9999999989999999 ], [ 0.9942704556365572, -0.10689369040440609 ] ] }, { "task_id": "0002247", "id": "RH20T_cfg7_task_0050_user_0014_scene_0008_cfg_0007_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002247/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07945789505174146, -0.9968382230402014 ], [ 0.9785497849363511, 0.2060104810392318 ], [ -0.9411061693536282, -0.33811119177652194 ], [ -0.16462124414805274, 0.9863568552887678 ] ] }, { "task_id": "0002248", "id": "RH20T_cfg4_task_0209_user_0007_scene_0003_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife on the rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002248/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06237828615128948, 0.9980525784206317 ], [ 0.9991214228535643, -0.041909216111365305 ], [ 0.19289112179099985, -0.9812201664938454 ], [ -0.986914440367141, -0.1612448057917303 ] ] }, { "task_id": "0002249", "id": "RH20T_cfg7_task_0009_user_0020_scene_0005_cfg_0007_104122064161#123", "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 a Hanoi block from the red base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002249/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9904551738064561, 0.1378352229294928 ], [ -0.032538335690710705, -0.9994704881638471 ], [ -0.998601633520145, -0.052865655494830605 ] ] }, { "task_id": "0002250", "id": "RH20T_cfg5_task_0001_user_0007_scene_0004_cfg_0005_104122063678#259", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002250/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.42524356233288696, -0.9050789538457051 ], [ -0.8007146627514159, -0.599045932174559 ], [ -0.6206098695573532, 0.7841194996988694 ], [ 0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0002251", "id": "RH20T_cfg4_task_0112_user_0014_scene_0004_cfg_0004_038522062288#190", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the charger to the socket', and now you are performing subtask 'pick up the charger 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002251/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8498454309305352, -0.5270320137586453 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.3911864697667797, -0.9203114396069433 ], [ -0.8183623061214008, 0.5747026500022969 ] ] }, { "task_id": "0002253", "id": "RH20T_cfg5_task_0122_user_0007_scene_0002_cfg_0005_104122063678#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the knife from the rack and put it on the cutting board', and now you are performing subtask 'pick up the kitchen knife 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002253/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8753746626870633, 0.4834451364172672 ], [ -0.554700196071383, -0.8320502941070744 ], [ 0.4592240101005913, 0.888320498776839 ], [ 0.8867141612395719, -0.46231806827897437 ] ] }, { "task_id": "0002255", "id": "RH20T_cfg6_task_0006_user_0014_scene_0010_cfg_0006_104122064161#192", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the gripper to push the small block from right to left', and now you are performing subtask 'push the small block from the right position to the left 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002255/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9244179543360803, 0.3813809718655305 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.34568230782448733, -0.9383516089702924 ], [ -0.9478215236626404, -0.3188014417812926 ] ] }, { "task_id": "0002256", "id": "RH20T_cfg4_task_0018_user_0016_scene_0010_cfg_0004_104122062823#574", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take a block out of the stack of blocks', and now you are performing subtask 'pull a block out of the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002256/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6634190643739695, -0.7482480504653299 ], [ -0.7648313926652556, -0.6442305028432957 ], [ -0.7575305732243217, 0.6527996864509286 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002257", "id": "RH20T_cfg3_task_0049_user_0010_scene_0008_cfg_0003_104122062823#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 90 degrees counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002257/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6530364510743047, -0.7573264775301846 ], [ 0.7682212795727857, 0.6401843996439881 ], [ -0.6762923848300794, -0.7366332942657723 ], [ -0.6592069658532755, 0.7519615523220043 ] ] }, { "task_id": "0002258", "id": "RH20T_cfg1_task_0004_user_0004_scene_0002_cfg_0001_039422060546#560", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the block on the desktop', and now you are performing subtask 'slide a block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002258/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067811151189, 0.7071067811151189 ], [ 0.6707308851639465, -0.7417008019998286 ], [ -0.590089516761812, -0.807337824090889 ], [ -0.6321586489747317, 0.7748389784506469 ] ] }, { "task_id": "0002259", "id": "RH20T_cfg7_task_0031_user_0020_scene_0008_cfg_0007_104122064161#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid of the blue box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002259/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.50406070438038, -0.8636682269827664 ], [ -0.7219742987160199, -0.6919198739691693 ], [ -0.6965694713444747, 0.7174893529460065 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002260", "id": "RH20T_cfg4_task_0107_user_0007_scene_0004_cfg_0004_104122062823#129", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002260/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9615239475087477, 0.2747211278596422 ], [ 0.12336747399159387, 0.9923610564511959 ], [ 0.9694207573424747, -0.24540455422331264 ], [ -0.19371231318346396, -0.9810583773257897 ] ] }, { "task_id": "0002261", "id": "RH20T_cfg7_task_0064_user_0014_scene_0005_cfg_0007_104122064161#85", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002261/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9069112313726052, 0.42132175164620345 ], [ 0.30784594707447843, -0.9514362158704163 ], [ -0.35112344154729586, 0.9363291774594555 ], [ -0.9347217869866532, -0.35538033278795517 ] ] }, { "task_id": "0002262", "id": "RH20T_cfg6_task_0216_user_0014_scene_0009_cfg_0006_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the cucumber into shreds', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002262/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.64317201460936, -0.7657217246646051 ], [ -0.6251932112143137, 0.7804700177787322 ], [ 0.6635702830416822, 0.7481139481816802 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0002263", "id": "RH20T_cfg4_task_0014_user_0007_scene_0009_cfg_0004_104122062823#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the glass container on the scale is placed on the table', and now you are performing subtask 'pick up the glass container on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002263/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6507913733853803, 0.7592566022829437 ], [ 0.82068534371818, -0.5713804044646376 ], [ -0.5391134850293456, -0.8422331329623133 ], [ -0.742818858097489, 0.6694924525748908 ] ] }, { "task_id": "0002264", "id": "RH20T_cfg7_task_0004_user_0014_scene_0006_cfg_0007_104122064161#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002264/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5920480558874947, -0.8059026613182502 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6686496855955922, -0.7435775668704079 ], [ -0.807089709774184, 0.5904288275284527 ] ] }, { "task_id": "0002265", "id": "RH20T_cfg4_task_0076_user_0015_scene_0010_cfg_0004_104122062823#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack the blocks on the table on top of the stacked blocks', and now you are performing subtask 'pick up the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002265/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13440024488647415, -0.9909271285894115 ], [ -0.9940979035851631, 0.1084866723961237 ], [ 0.9999999996666666, 0.0 ], [ -0.12773635325321409, 0.9918081588984687 ] ] }, { "task_id": "0002266", "id": "RH20T_cfg4_task_0015_user_0016_scene_0009_cfg_0004_104122062823#121", "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 wooden 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002266/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.803974330512336, -0.5946640025066602 ], [ -0.6767071943797086, -0.7362522482646443 ], [ -0.6122286302870836, 0.790680785308965 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0002267", "id": "RH20T_cfg6_task_0048_user_0014_scene_0008_cfg_0006_104122064161#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002267/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9953132537573978, 0.09670329309212788 ], [ -0.10252081876009832, 0.9947308589366066 ], [ 0.0, -0.9999999989999999 ], [ 0.999315035239474, -0.037006220346435685 ] ] }, { "task_id": "0002268", "id": "RH20T_cfg6_task_0079_user_0014_scene_0006_cfg_0006_104122064161#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002268/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9898175475060349, -0.14234192161530765 ], [ -0.30012200499843256, -0.9539008240460436 ], [ -0.9806732193862531, 0.19565284761178914 ] ] }, { "task_id": "0002269", "id": "RH20T_cfg3_task_0013_user_0010_scene_0010_cfg_0003_038522062288#61", "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 fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002269/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.035691530511138596, 0.9993628543118808 ], [ 0.9903770328035953, 0.1383955667467212 ], [ -0.07528085849921748, -0.997162370100086 ], [ -0.994659402940368, 0.1032117829625608 ] ] }, { "task_id": "0002270", "id": "RH20T_cfg1_task_0071_user_0014_scene_0001_cfg_0001_819112070044#218", "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 the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002270/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1106923484725042, 0.9938547197602081 ], [ 0.998320511149485, 0.057932348633827756 ], [ -0.07404826535495668, -0.9972546587496706 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002271", "id": "RH20T_cfg7_task_0009_user_0014_scene_0003_cfg_0007_104122064161#100", "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 red base's Hanoi 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002271/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8734837631994978, 0.4868532791579448 ], [ 0.4746192066168395, -0.8801912341703942 ], [ -0.554700196071383, 0.8320502941070744 ], [ -0.7695232698332203, -0.6386187729664615 ] ] }, { "task_id": "0002272", "id": "RH20T_cfg2_task_0080_user_0007_scene_0001_cfg_0002_037522062165#239", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the paper on the table', and now you are performing subtask 'pick up the paper 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002272/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12497799735781047, 0.9921595134737313 ], [ 0.999998014097918, 0.0019929375856281373 ], [ 0.07511858856763524, -0.9971746074041428 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002273", "id": "RH20T_cfg2_task_0069_user_0014_scene_0010_cfg_0002_037522062165#18", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the puzzle piece on the blue mat'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002273/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.17667715547250848, -0.984268856936022 ], [ -0.9812206442326652, 0.1928886915597527 ], [ 0.9486832977505137, -0.31622776591683793 ], [ 0.3273087508419947, 0.9449174469879648 ] ] }, { "task_id": "0002274", "id": "RH20T_cfg5_task_0119_user_0007_scene_0006_cfg_0005_104122063678#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'push the handle of the faucet to the left to turn off the faucet'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002274/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9989102392756939, -0.046672624419203154 ], [ -0.1366960292633793, -0.9906130402854717 ], [ 0.0, 0.9999999996666666 ], [ -0.9955763801014892, 0.0939556884069044 ] ] }, { "task_id": "0002275", "id": "RH20T_cfg2_task_0075_user_0007_scene_0003_cfg_0002_105422061350#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black chess 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002275/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996882309674816, 0.07890285582540352 ], [ 0.10648139343673371, -0.9943146950798684 ], [ 0.0, 0.9999999995 ], [ -0.9882741037177907, -0.15269019588957747 ] ] }, { "task_id": "0002276", "id": "RH20T_cfg4_task_0217_user_0007_scene_0003_cfg_0004_104122062823#142", "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 lamp holder from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002276/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999999, 0.0 ], [ -0.06721239827924003, -0.9977386899973123 ], [ -0.999253993914772, 0.0386193687853239 ], [ -0.01667503446800469, 0.9998609619469554 ] ] }, { "task_id": "0002277", "id": "RH20T_cfg6_task_0031_user_0014_scene_0001_cfg_0006_104122064161#47", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'fold the lid of the box on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002277/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9959035358378753, 0.09042205099209999 ], [ 0.0, 0.9999999989999999 ], [ 0.07929636011559363, -0.9968510858059082 ], [ -0.995739551965024, -0.09221032833958133 ] ] }, { "task_id": "0002278", "id": "RH20T_cfg2_task_0009_user_0013_scene_0001_cfg_0002_105422061350#286", "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 a Hanoi block from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002278/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.034695811441230226, -0.9993979190835023 ], [ -0.9991226679678942, -0.041879521877847624 ], [ 0.9999999995, 0.0 ], [ -0.04007337710818078, 0.9991967396099456 ] ] }, { "task_id": "0002279", "id": "RH20T_cfg1_task_0200_user_0012_scene_0007_cfg_0001_750612070853#58", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large straw from above the holder for the large straw'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002279/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9935717726574995, -0.11320394241471594 ], [ -0.13116214772670767, -0.9913609287256168 ], [ -0.9962549608097453, 0.08646417212911367 ], [ 0.0, 0.9999999998888889 ] ] }, { "task_id": "0002280", "id": "RH20T_cfg3_task_0020_user_0010_scene_0002_cfg_0003_104122062823#366", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002280/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7746688292949195, -0.6323671440854901 ], [ -0.7165219695218531, -0.6975645254688089 ], [ -0.8059106847789773, 0.5920371341048465 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002281", "id": "RH20T_cfg7_task_0051_user_0020_scene_0001_cfg_0007_104122064161#137", "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 plate from the dish 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002281/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9946440780754514, 0.10335936314352633 ], [ 0.0, -0.9999999995 ], [ 0.08671953289723641, 0.9962327652783185 ], [ 0.9963587046875769, -0.0852603752823891 ] ] }, { "task_id": "0002282", "id": "RH20T_cfg5_task_0060_user_0007_scene_0004_cfg_0005_104122063678#318", "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 knob counterclockwise to lower 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002282/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6283235764263331, -0.7779521086203327 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7299390403521536, -0.6835122510751194 ], [ -0.6983445193945744, 0.7157617845565387 ] ] }, { "task_id": "0002283", "id": "RH20T_cfg1_task_0069_user_0010_scene_0010_cfg_0001_819112070044#182", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place a piece of the puzzle onto the puzzle board', and now you are performing subtask 'pick up the puzzle piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002283/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9915568949999379, 0.12967237168372478 ], [ -0.06756942754465273, -0.9977145746461199 ], [ -0.9981423997952605, -0.06092413094134654 ] ] }, { "task_id": "0002284", "id": "RH20T_cfg4_task_0088_user_0014_scene_0004_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the wooden block on the left side of the box', and now you are performing subtask 'pick up the wooden block from the right side of the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002284/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9507782655946642, 0.3098720537137906 ], [ -0.22162110357914494, 0.9751328557482377 ], [ 0.3095926902076599, -0.9508692687062633 ], [ -0.9384531449587806, -0.3454065643802587 ] ] }, { "task_id": "0002285", "id": "RH20T_cfg3_task_0015_user_0011_scene_0009_cfg_0003_104122062823#259", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002285/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13381077354653592, -0.9910069005223312 ], [ -0.9987675752051144, -0.049631952600076454 ], [ -0.1059138205352928, 0.9943753127565154 ], [ 0.9999999998, 0.0 ] ] }, { "task_id": "0002286", "id": "RH20T_cfg4_task_0082_user_0015_scene_0007_cfg_0004_104122062823#108", "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 white bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002286/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08268748024787571, -0.9965755267967688 ], [ 0.9999999989999999, 0.0 ], [ -0.9983071646904138, 0.058161885524688726 ], [ 0.14844141490128926, 0.9889212033029241 ] ] }, { "task_id": "0002288", "id": "RH20T_cfg6_task_0059_user_0014_scene_0007_cfg_0006_104122064161#222", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'adjust the volume of the speaker by turning the knob', and now you are performing subtask 'twist the knob 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002288/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7554024874560837, -0.6552610792235117 ], [ -0.7843582661994697, -0.6203080768816104 ], [ -0.7753759277150489, 0.6314999372288388 ] ] }, { "task_id": "0002289", "id": "RH20T_cfg2_task_0042_user_0007_scene_0007_cfg_0002_037522062165#252", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002289/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7786653969496754, 0.627439399140032 ], [ 0.6442518997265941, -0.7648133691945209 ], [ -0.6246950474568633, 0.7808688093210792 ], [ -0.7395770588848715, -0.6730718936125645 ] ] }, { "task_id": "0002290", "id": "RH20T_cfg4_task_0035_user_0017_scene_0001_cfg_0004_104122062823#120", "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 from the edge of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002290/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9512359563096189, -0.30846418823540106 ], [ -0.30119078629132007, -0.9535638994074893 ], [ -0.9359137934591937, 0.3522291458877614 ], [ 0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0002291", "id": "RH20T_cfg4_task_0128_user_0010_scene_0004_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the USB drive into the charging cable port', and now you are performing subtask 'pick up the USB drive from the block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002291/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.9320944571617039, -0.36221529913634043 ], [ -0.5043020257165205, -0.8635273399598962 ], [ -0.8871497599441743, 0.4614816393216461 ] ] }, { "task_id": "0002292", "id": "RH20T_cfg3_task_0012_user_0010_scene_0005_cfg_0003_104122062823#189", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002292/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.43843428762593334, -0.8987632477098406 ], [ -0.9060645683571548, -0.4231394545156042 ], [ 0.8637789008362573, 0.5038710254878168 ], [ -0.47693275684004716, 0.8789397848845804 ] ] }, { "task_id": "0002293", "id": "RH20T_cfg4_task_0105_user_0007_scene_0018_cfg_0004_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block', and now you are performing subtask 'pick up the block on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002293/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.20657737241415333, -0.9784302679325003 ], [ -0.9952087490572668, -0.09777292979076697 ], [ 0.9805806754986125, 0.1961161350997225 ], [ -0.043585215317492224, 0.9990497129801539 ] ] }, { "task_id": "0002294", "id": "RH20T_cfg4_task_0011_user_0010_scene_0008_cfg_0004_104122062823#126", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002294/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.01650197570200199, -0.9998638331282569 ], [ -0.9988977248211787, -0.0469396990517953 ], [ -0.20664749367583046, 0.9784154605061683 ], [ 0.9938837346370336, 0.11043152607078151 ] ] }, { "task_id": "0002295", "id": "RH20T_cfg3_task_0004_user_0016_scene_0008_cfg_0003_104122062823#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002295/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9574081116570482, 0.2887381300301109 ], [ 0.4608879174910806, -0.8874583525499858 ], [ -0.3713906762851382, 0.9284766907128456 ], [ -0.951677703110129, -0.3070985988294786 ] ] }, { "task_id": "0002296", "id": "RH20T_cfg4_task_0207_user_0010_scene_0001_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the chili peppers', and now you are performing subtask 'pick up the knife from the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002296/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9380479880479778, -0.3465053709816644 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.42327430794459914, -0.9060015784942212 ], [ -0.819261495578226, 0.5734200919595758 ] ] }, { "task_id": "0002297", "id": "RH20T_cfg4_task_0086_user_0014_scene_0002_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone with a small stick', and now you are performing subtask 'pick up a small stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002297/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7776362731991631, -0.6287144237290224 ], [ -0.7007952354662459, -0.7133624870623693 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7075855436246674, 0.7066276943719259 ] ] }, { "task_id": "0002298", "id": "RH20T_cfg4_task_0067_user_0015_scene_0008_cfg_0004_104122062823#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button from top to bottom', and now you are performing subtask 'press the red button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002298/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5691106373207531, -0.8222609576578268 ], [ -0.7721696385961304, -0.6354164376456761 ], [ 0.7302714135016924, 0.6831571287596478 ], [ -0.7813542562034174, 0.6240877552979264 ] ] }, { "task_id": "0002299", "id": "RH20T_cfg6_task_0039_user_0014_scene_0004_cfg_0006_104122064161#92", "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 right 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002299/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07124704998537157, 0.9974586997952021 ], [ 0.9817197324426867, -0.19033225405237936 ], [ -0.017449470167727098, -0.9998477464048542 ], [ -0.9762158200025475, 0.21680099809907227 ] ] }, { "task_id": "0002300", "id": "RH20T_cfg4_task_0013_user_0016_scene_0008_cfg_0004_104122062823#100", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002300/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.988533177274665, -0.15100383249194538 ], [ 0.26311740576903186, 0.9647638211531168 ], [ -0.30841702569345636, -0.9512512487573417 ], [ -0.9315449314883726, 0.36362623752738654 ] ] }, { "task_id": "0002301", "id": "RH20T_cfg3_task_0006_user_0016_scene_0005_cfg_0003_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the left', and now you are performing subtask 'push the square to the left on the cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002301/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.28734788555258395, 0.9578262851752798 ], [ 0.9878722496864684, 0.15526885811197244 ], [ 0.14547809767349237, -0.9893614724140525 ], [ -0.9495760964647443, -0.31353665977486384 ] ] }, { "task_id": "0002302", "id": "RH20T_cfg4_task_0107_user_0015_scene_0002_cfg_0004_104122062823#123", "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 ball 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002302/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8006832761485284, 0.5990878827818665 ], [ 0.5289250074660798, -0.8486685669193877 ], [ -0.8921610122796332, -0.4517175313934364 ], [ -0.5812381936515288, 0.8137334711121403 ] ] }, { "task_id": "0002303", "id": "RH20T_cfg4_task_0107_user_0015_scene_0002_cfg_0004_104122062823#260", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the garbage in the trash can', and now you are performing subtask 'press the trash can lid on top of the trash can'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002303/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3284307354928405, 0.9445280578064539 ], [ 0.9427643235316298, 0.33345978809437976 ], [ 0.48955612549286187, -0.8719717885301206 ], [ -0.8944271909865825, -0.44721359549329126 ] ] }, { "task_id": "0002304", "id": "RH20T_cfg7_task_0007_user_0020_scene_0003_cfg_0007_104122064161#131", "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 to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002304/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999310891895704, 0.011739543098402678 ], [ 0.11730755867163198, -0.993095633198788 ], [ -0.9888499675254669, -0.148915216565947 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002305", "id": "RH20T_cfg4_task_0200_user_0010_scene_0008_cfg_0004_104122062823#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002305/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.47616342957697705, -0.8793568037682379 ], [ -0.9450164819398482, 0.32702270389383153 ], [ 0.4070199943358761, 0.9134192488725117 ], [ 0.8944271907999158, -0.4472135953999579 ] ] }, { "task_id": "0002307", "id": "RH20T_cfg4_task_0103_user_0015_scene_0008_cfg_0004_104122062823#142", "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 'slide the plate to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002307/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9993929752034608, 0.03483792637305855 ], [ -0.04336588042388333, -0.9990592577095022 ], [ -0.997681550033072, -0.06805530635892217 ] ] }, { "task_id": "0002308", "id": "RH20T_cfg2_task_0001_user_0002_scene_0005_cfg_0002_104122061850#130", "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 fabric 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002308/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998720320169253, -0.01599748700092527 ], [ -0.22996461251438788, -0.9731989914663431 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9573108147461397, 0.28906055415791737 ] ] }, { "task_id": "0002309", "id": "RH20T_cfg5_task_0200_user_0007_scene_0008_cfg_0005_104122063678#308", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette from beside the large pipette'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002309/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09807129795967569, 0.9951793911232811 ], [ 0.9954489005194431, -0.0952968333924683 ], [ -0.14575280324126585, -0.9893210400811825 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002310", "id": "RH20T_cfg5_task_0035_user_0007_scene_0009_cfg_0005_104122063678#317", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002310/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7930843793466997, 0.6091117855010361 ], [ 0.69039717191805, -0.7234305391725998 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7897071742658046, -0.6134839679348747 ] ] }, { "task_id": "0002311", "id": "RH20T_cfg6_task_0124_user_0020_scene_0009_cfg_0006_104122064161#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the lever on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002311/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.804628735957041, 0.593778239136611 ], [ 0.7129248954159523, -0.7012403963664341 ], [ -0.8663816878804573, -0.499382389462634 ], [ -0.6139406134610743, 0.7893522173070956 ] ] }, { "task_id": "0002312", "id": "RH20T_cfg2_task_0032_user_0003_scene_0008_cfg_0002_037522062165#144", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002312/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5958133786345129, 0.8031229157732498 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6977910254140123, 0.7163013924680458 ], [ 0.6627056574239139, -0.7488799714362363 ] ] }, { "task_id": "0002313", "id": "RH20T_cfg6_task_0050_user_0014_scene_0008_cfg_0006_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002313/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994906693684125, 0.03191240895769044 ], [ 0.11193112103596171, -0.9937159675398364 ], [ -0.9974376120919736, 0.07154166607132961 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0002314", "id": "RH20T_cfg5_task_0011_user_0007_scene_0002_cfg_0005_104122063678#308", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the pink watering can 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002314/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41901684446879894, 0.9079784601252446 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9237801281782443, -0.38292332755133435 ], [ -0.4523393785731973, -0.8918458872428654 ] ] }, { "task_id": "0002315", "id": "RH20T_cfg2_task_0002_user_0006_scene_0007_cfg_0002_037522062165#238", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002315/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12919345914119998, -0.991619407895555 ], [ 0.9999999989999999, 0.0 ], [ -0.9981772867331017, 0.060349848799671764 ], [ -0.051127175904764934, 0.9986921507071151 ] ] }, { "task_id": "0002316", "id": "RH20T_cfg6_task_0011_user_0014_scene_0002_cfg_0006_104122064161#72", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002316/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5761824338027612, 0.8173211137473 ], [ 0.9337181704389845, -0.358008907978664 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.48571463672894916, -0.8741174358558838 ] ] }, { "task_id": "0002317", "id": "RH20T_cfg5_task_0074_user_0007_scene_0003_cfg_0005_104122063678#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the green button on the left horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002317/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10555197632973663, 0.9944137872600555 ], [ 0.9924034464608508, 0.1230260112847087 ], [ 0.09389447462501273, -0.9955821551408467 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002318", "id": "RH20T_cfg6_task_0015_user_0014_scene_0004_cfg_0006_104122064161#44", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002318/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975248280135642, 0.0703151299259904 ], [ -0.04180974729267185, -0.9991255902194293 ], [ -0.9971088176936095, -0.07598687832548688 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0002319", "id": "RH20T_cfg6_task_0004_user_0020_scene_0001_cfg_0006_104122064161#81", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002319/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9686025871649043, -0.2486142154774219 ], [ -0.16824977396375415, -0.9857443956529227 ], [ 0.16067560207802292, 0.9870072699078551 ], [ -0.9946398483008504, 0.10340005885908125 ] ] }, { "task_id": "0002320", "id": "RH20T_cfg4_task_0013_user_0010_scene_0005_cfg_0004_104122062823#107", "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 on the wooden 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002320/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9507149821607903, 0.3100661585775012 ], [ -0.400818833996757, 0.9161573348497302 ], [ 0.4917617274012027, -0.8707298108273228 ], [ -0.8930720446668513, -0.44991368398234977 ] ] }, { "task_id": "0002322", "id": "RH20T_cfg7_task_0050_user_0014_scene_0009_cfg_0007_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002322/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9838123938837526, -0.17920148894671645 ], [ 0.18711210788124247, 0.982338566376523 ], [ -0.12083620205756876, -0.9926724597128211 ], [ -0.9969296951744259, 0.07830187021665791 ] ] }, { "task_id": "0002323", "id": "RH20T_cfg2_task_0054_user_0007_scene_0006_cfg_0002_105422061350#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the moving toy on the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002323/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5661129827707013, -0.8243276598164468 ], [ -0.8389492839511501, -0.5442096093949945 ], [ 0.8944271908665825, 0.44721359543329126 ], [ -0.5073522758492073, 0.8617387470635343 ] ] }, { "task_id": "0002324", "id": "RH20T_cfg3_task_0001_user_0016_scene_0006_cfg_0003_104122062823#258", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002324/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8613167742600035, -0.5080683166448604 ], [ -0.3716354341959902, 0.9283787503222797 ], [ 0.4472135954749579, -0.8944271909499159 ], [ 0.8344990985621475, 0.5510093052743876 ] ] }, { "task_id": "0002325", "id": "RH20T_cfg4_task_0001_user_0010_scene_0009_cfg_0004_104122062823#152", "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 red button on the gray panel from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002325/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6431920864035735, 0.765704864766159 ], [ 0.8557493820754444, -0.5173905633827264 ], [ -0.5286643383399248, -0.848830971022859 ], [ -0.8461547187199605, 0.5329373246339054 ] ] }, { "task_id": "0002326", "id": "RH20T_cfg3_task_0045_user_0010_scene_0009_cfg_0003_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002326/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4361491424577146, 0.8998743943092281 ], [ 0.9300409527103772, -0.36745588344939295 ], [ -0.42174591869315264, -0.9067140563957684 ], [ -0.9191450298973682, 0.3939192985274435 ] ] }, { "task_id": "0002327", "id": "RH20T_cfg2_task_0072_user_0007_scene_0020_cfg_0002_105422061350#276", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin from the surface of the object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002327/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.02075517066915109, 0.999784588244135 ], [ 0.9951611555512583, 0.09825616765315263 ], [ -0.15474378848191098, -0.9879546345487052 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002328", "id": "RH20T_cfg6_task_0042_user_0014_scene_0002_cfg_0006_104122064161#118", "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 'twist the lid clockwise onto 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002328/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35112344154729586, 0.9363291774594555 ], [ 0.9501415389925366, 0.31181894727693216 ], [ 0.3631941992551014, -0.9317134611174435 ], [ -0.9765492911085428, -0.21529394333190716 ] ] }, { "task_id": "0002329", "id": "RH20T_cfg2_task_0006_user_0013_scene_0003_cfg_0002_105422061350#234", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002329/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.997279791212541, 0.0737090092123802 ], [ 0.17624388437200525, -0.9843465310658982 ], [ -0.9752095825200273, -0.2212832351560193 ] ] }, { "task_id": "0002330", "id": "RH20T_cfg3_task_0044_user_0010_scene_0010_cfg_0003_104122062823#384", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002330/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8316893578652362, -0.5552412196637703 ], [ -0.4644917500643365, -0.8855774467104331 ], [ -0.9057158737485047, 0.4238853100072975 ], [ 0.5144957553392911, 0.8574929255654853 ] ] }, { "task_id": "0002331", "id": "RH20T_cfg4_task_0104_user_0007_scene_0010_cfg_0004_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back', and now you are performing subtask 'pull the plate back'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002331/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999958956435927, 0.00286508219233696 ], [ 0.05547001961944599, -0.9984603531500278 ], [ -0.1390731460599461, 0.9902821113425149 ], [ 0.9984470933364497, -0.05570818438968395 ] ] }, { "task_id": "0002332", "id": "RH20T_cfg4_task_0083_user_0015_scene_0009_cfg_0004_104122062823#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002332/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9011091708682283, -0.4335922764270302 ], [ -0.37894551385215614, -0.9254189848556844 ], [ -0.9223718695918128, 0.38630316357195926 ], [ 0.38963999082289624, 0.9209672510359366 ] ] }, { "task_id": "0002333", "id": "RH20T_cfg6_task_0032_user_0020_scene_0006_cfg_0006_104122064161#150", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002333/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.046788767695371936, -0.9989048058836981 ], [ -0.995087678788197, 0.0989975329183413 ], [ 0.9999999996666666, 0.0 ], [ -0.1088528347734299, 0.9940578757606563 ] ] }, { "task_id": "0002334", "id": "RH20T_cfg4_task_0078_user_0007_scene_0007_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door closed'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002334/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.09863641987936737, 0.9951235383978119 ], [ 0.9913695181317743, 0.13109721018837053 ], [ -0.0626497993585537, -0.9980355718311512 ] ] }, { "task_id": "0002336", "id": "RH20T_cfg7_task_0002_user_0014_scene_0001_cfg_0007_104122064161#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull out a napkin'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002336/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7660003486696597, 0.6428401557447697 ], [ 0.6288531937848405, -0.7775240579342906 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.8037115312830484, -0.5950191379129394 ] ] }, { "task_id": "0002337", "id": "RH20T_cfg2_task_0005_user_0013_scene_0006_cfg_0002_105422061350#153", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'gently push the block', and now you are performing subtask 'gently push the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002337/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8905646610466786, 0.45485666368078476 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.32533110348481453, -0.9456001655590766 ], [ -0.8513684187753865, -0.5245682181679503 ] ] }, { "task_id": "0002338", "id": "RH20T_cfg6_task_0047_user_0014_scene_0006_cfg_0006_104122064161#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002338/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6210971031322386, 0.7837336208691964 ], [ -0.79999999984, 0.59999999988 ], [ 0.7753232340943086, -0.6315646306384977 ], [ -0.539766484489913, -0.8418147909257716 ] ] }, { "task_id": "0002339", "id": "RH20T_cfg4_task_0119_user_0007_scene_0005_cfg_0004_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the handle of the water tap clockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002339/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5706081112494299, -0.8212224932235833 ], [ -0.8955943884109204, -0.44487154488331737 ], [ -0.3708501170313327, 0.9286927321228733 ], [ 0.8814799700010318, 0.4722214125005528 ] ] }, { "task_id": "0002340", "id": "RH20T_cfg4_task_0020_user_0014_scene_0006_cfg_0004_038522062288#201", "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 appliance'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002340/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2425356250069212, 0.9701425000276848 ], [ 0.9884891509108181, -0.15129176623864848 ], [ -0.17960521869751506, -0.9837387688896976 ], [ -0.9430265474499004, 0.33271749398659634 ] ] }, { "task_id": "0002341", "id": "RH20T_cfg7_task_0019_user_0020_scene_0008_cfg_0007_104122064161#124", "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 stone from the left tray'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002341/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8688580200221311, -0.4950613507871746 ], [ -0.5513782087594679, -0.8342553990866352 ], [ -0.8457227945261433, 0.5336224834270862 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002342", "id": "RH20T_cfg3_task_0033_user_0010_scene_0006_cfg_0003_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the specified position by grasping the large block', and now you are performing subtask 'pick up the large block from the position on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002342/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9069553286385412, 0.421226817586625 ], [ 0.4989022412287184, -0.8666582681178099 ], [ -0.9146152915836911, -0.40432520129380967 ], [ -0.44721359543329126, 0.8944271908665825 ] ] }, { "task_id": "0002343", "id": "RH20T_cfg3_task_0033_user_0010_scene_0006_cfg_0003_104122062823#297", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the specified position by grasping the large block', and now you are performing subtask 'place the large square onto 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002343/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8795407641607372, 0.4758235431118835 ], [ -0.4472135953999579, 0.8944271907999158 ], [ 0.5269295551973823, -0.8499089621009353 ], [ -0.8221309023778397, -0.5692984975875126 ] ] }, { "task_id": "0002344", "id": "RH20T_cfg4_task_0091_user_0015_scene_0003_cfg_0004_104122062823#90", "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 black 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002344/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9936849740383914, -0.11220593732205718 ], [ -0.1555398484571297, -0.9878296186802323 ], [ -0.9985188621964137, -0.05440663413573241 ], [ 0.0, 0.99999999995 ] ] }, { "task_id": "0002345", "id": "RH20T_cfg4_task_0069_user_0015_scene_0002_cfg_0004_104122062823#160", "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 the purple puzzle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002345/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.990307944941288, -0.13888907151451094 ], [ -0.21174063048821357, -0.9773258951856612 ], [ -0.9697316596377499, 0.24417311132926853 ] ] }, { "task_id": "0002346", "id": "RH20T_cfg4_task_0033_user_0016_scene_0009_cfg_0004_104122062823#113", "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 larger 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002346/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.991165859493373, 0.13262819826403094 ], [ 0.23131107876716095, -0.9728798409051204 ], [ -0.1351132047272283, 0.9908301679996742 ], [ -0.9902111241420039, -0.13957768312101052 ] ] }, { "task_id": "0002347", "id": "RH20T_cfg4_task_0033_user_0016_scene_0009_cfg_0004_104122062823#139", "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 the smaller block to the marked position 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002347/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8740798029202218, 0.48578235674728465 ], [ 0.3985127984258928, -0.9171627715355457 ], [ -0.5144957553392911, 0.8574929255654853 ], [ -0.9128941860529753, -0.4081962825292212 ] ] }, { "task_id": "0002348", "id": "RH20T_cfg7_task_0066_user_0014_scene_0002_cfg_0007_104122064161#81", "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 the light blue Lego brick from the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002348/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9882095935407352, 0.15310714951972287 ], [ -0.030488442668863414, -0.999535119374816 ], [ 0.0, 0.9999999989999999 ], [ -0.9999013069614113, -0.014049068896603043 ] ] }, { "task_id": "0002349", "id": "RH20T_cfg7_task_0066_user_0014_scene_0002_cfg_0007_104122064161#163", "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 'place the light blue Lego brick in the building area'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002349/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11043152606265141, 0.9938837345638627 ], [ 0.9686767466441613, 0.24832511051217404 ], [ 0.1616646556087797, -0.9868457524491326 ], [ -0.9989340425086805, 0.046160358721157535 ] ] }, { "task_id": "0002350", "id": "RH20T_cfg2_task_0071_user_0014_scene_0007_cfg_0002_105422061350#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'press the handle of the sliding window to close the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002350/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9877531012736351, -0.1560250330053352 ], [ 0.0, 0.9999999995 ], [ 0.05995136614160011, -0.9982012991865697 ], [ -0.9922448657669306, -0.12429853723663022 ] ] }, { "task_id": "0002351", "id": "RH20T_cfg2_task_0014_user_0006_scene_0007_cfg_0002_037522062165#158", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002351/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9999871089608798, -0.005077589197787961 ], [ -0.13425180752110208, -0.9909472499468965 ], [ -0.9985652231182132, -0.05354899792594807 ] ] }, { "task_id": "0002353", "id": "RH20T_cfg6_task_0008_user_0014_scene_0001_cfg_0006_104122064161#42", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002353/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.990211393979894, 0.13957576878668884 ], [ -0.016849231316403264, -0.9998580416259332 ], [ -0.9998620402403793, 0.016610252446798944 ], [ -0.07478994824070197, 0.9971993098760262 ] ] }, { "task_id": "0002354", "id": "RH20T_cfg3_task_0010_user_0010_scene_0004_cfg_0003_104122062823#136", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002354/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7682212795481955, -0.6401843996234963 ], [ -0.6154283302597775, -0.7881928509658421 ], [ -0.7086336921994797, 0.705576565852164 ], [ 0.5731783351433256, 0.8194306536384428 ] ] }, { "task_id": "0002355", "id": "RH20T_cfg4_task_0209_user_0007_scene_0008_cfg_0004_104122062823#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife on the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002355/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9845259618326274, 0.17523878131720713 ], [ -0.2248595066819045, 0.9743911956215862 ], [ 0.15388881905237758, -0.9880881698364092 ], [ -0.9902546388970687, -0.13926862583811292 ] ] }, { "task_id": "0002356", "id": "RH20T_cfg7_task_0035_user_0014_scene_0009_cfg_0007_104122064161#91", "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 square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002356/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975904986522395, -0.06937720806414911 ], [ -0.20584273916456375, -0.9785850840541304 ], [ 0.09950371901109793, 0.9950371901109792 ], [ -0.9897884867219537, 0.14254385834775524 ] ] }, { "task_id": "0002357", "id": "RH20T_cfg4_task_0109_user_0015_scene_0005_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002357/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9853655849598586, 0.1704542870587759 ], [ -0.31622776599683794, 0.9486832979905138 ], [ 0.41797614405098676, -0.9084580028841558 ], [ -0.9808441868343185, -0.1947939453713195 ] ] }, { "task_id": "0002358", "id": "RH20T_cfg4_task_0069_user_0015_scene_0008_cfg_0004_104122062823#136", "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 the puzzle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002358/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.015041682226099423, 0.9998868674984231 ], [ 0.9998362994351656, 0.01809348865735788 ], [ -0.9999999989999999, 0.0 ], [ 0.002272014738214953, -0.9999974189711839 ] ] }, { "task_id": "0002359", "id": "RH20T_cfg3_task_0016_user_0011_scene_0001_cfg_0003_104122062823#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'adjust the cue to the proper angle to aim at the pool ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002359/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983296602717038, 0.05777447032889659 ], [ 0.08544581500491373, -0.9963428188621355 ], [ 0.0, 0.9999999999285715 ], [ -0.9900804103941376, 0.14050188950251147 ] ] }, { "task_id": "0002360", "id": "RH20T_cfg6_task_0124_user_0020_scene_0004_cfg_0006_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever on the workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002360/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.368674435680088, -0.929558583670749 ], [ -0.9462979261401651, -0.32329589385394736 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.25925702037843495, 0.965808364731066 ] ] }, { "task_id": "0002361", "id": "RH20T_cfg5_task_0047_user_0010_scene_0005_cfg_0005_104122063678#453", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002361/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.032907451960423335, 0.9994584031391565 ], [ -0.9999999989999999, 0.0 ], [ 0.9903395721455636, 0.1386633759957628 ], [ -0.14936818586744025, -0.9887816468010872 ] ] }, { "task_id": "0002362", "id": "RH20T_cfg4_task_0045_user_0014_scene_0006_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002362/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8479983039152004, -0.5299989399470002 ], [ -0.6060852122227465, -0.7953997205964486 ], [ -0.7735322867163976, 0.6337568945639178 ], [ 0.6074785438809042, 0.7943360867569448 ] ] }, { "task_id": "0002363", "id": "RH20T_cfg4_task_0210_user_0014_scene_0008_cfg_0004_104122062823#49", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the kitchen knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002363/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06882267536045657, -0.9976289086409982 ], [ 0.9996349698593499, -0.027017161347549994 ], [ -0.998742626688613, -0.050131483472264225 ], [ 0.14653812597018773, 0.9892050230549507 ] ] }, { "task_id": "0002364", "id": "RH20T_cfg3_task_0069_user_0010_scene_0008_cfg_0003_104122062823#276", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the piece of the puzzle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002364/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7834243596957307, -0.6214871459936517 ], [ -0.7478097336628065, 0.6639130984090935 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.7722910384640435, 0.6352688815833256 ] ] }, { "task_id": "0002365", "id": "RH20T_cfg5_task_0016_user_0010_scene_0008_cfg_0005_104122063678#230", "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 pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002365/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999996666666, 0.0 ], [ 0.05668636086909181, 0.9983920354707458 ], [ 0.9997675204116202, -0.021561658795198238 ], [ -0.04244410171730813, -0.9990988430728017 ] ] }, { "task_id": "0002366", "id": "RH20T_cfg4_task_0105_user_0007_scene_0013_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grab the block on the table', and now you are performing subtask 'pick up the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002366/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08678358117565034, -0.9962271879638346 ], [ -0.9929512999509476, -0.11852306073386515 ], [ 0.9999999989999999, 0.0 ], [ 0.05465473685493971, 0.9985053128247828 ] ] }, { "task_id": "0002367", "id": "RH20T_cfg4_task_0103_user_0015_scene_0005_cfg_0004_104122062823#91", "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 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002367/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5980167059585099, 0.8014836363860046 ], [ -0.7592566022829437, 0.6507913733853803 ], [ 0.7149516841194246, -0.6991738620506337 ], [ -0.6655096289626414, -0.7463892642301384 ] ] }, { "task_id": "0002368", "id": "RH20T_cfg6_task_0025_user_0014_scene_0009_cfg_0006_104122064161#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (with one end pressed down by a heavy object)', and now you are performing subtask 'fold a piece of paper 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002368/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9603900971008016, 0.27865904146593373 ], [ 0.2992061663798419, -0.954188487669118 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.954014849215817, -0.2997593492715814 ] ] }, { "task_id": "0002369", "id": "RH20T_cfg2_task_0017_user_0006_scene_0004_cfg_0002_037522062165#596", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002369/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9960232286210349, -0.08909392822931039 ], [ 0.0, 0.9999999989999999 ], [ -0.1063082207909575, -0.9943332249262623 ], [ -0.9994287044350902, 0.03379740746265998 ] ] }, { "task_id": "0002370", "id": "RH20T_cfg4_task_0013_user_0007_scene_0007_cfg_0004_104122062823#159", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002370/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.19611613512536352, 0.9805806756268175 ], [ 0.9945428409140254, 0.10432898727898918 ], [ 0.14266775407642768, -0.9897706360297763 ], [ -0.9664240723192015, -0.2569523544199796 ] ] }, { "task_id": "0002371", "id": "RH20T_cfg6_task_0213_user_0014_scene_0001_cfg_0006_104122064161#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife on the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002371/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, 0.9615239475087477 ], [ 0.9619675395433315, -0.27316378395561347 ], [ -0.13414911104536864, -0.9909611576675129 ], [ -0.9898531429027796, 0.14209417822518045 ] ] }, { "task_id": "0002372", "id": "RH20T_cfg4_task_0329_user_0014_scene_0004_cfg_0004_038522062288#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup from the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002372/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8637053810375834, 0.5039970384503493 ], [ 0.6414728313213218, -0.7671457532155198 ], [ -0.554700196071383, 0.8320502941070744 ], [ -0.8054508782027213, -0.5926625370330616 ] ] }, { "task_id": "0002373", "id": "RH20T_cfg4_task_0217_user_0007_scene_0004_cfg_0004_104122062823#164", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002373/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5598569874918541, -0.8285892550332438 ], [ -0.910753007982477, 0.41295152070293956 ], [ 0.8944271908665825, -0.44721359543329126 ], [ 0.49140905670137397, 0.8709288943374573 ] ] }, { "task_id": "0002374", "id": "RH20T_cfg4_task_0093_user_0014_scene_0010_cfg_0004_038522062288#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002374/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8127961838267757, -0.5825481641517983 ], [ -0.5278259858252436, -0.8493525349862739 ], [ -0.6964702535328381, 0.7175856645334439 ], [ 0.59999999988, 0.79999999984 ] ] }, { "task_id": "0002375", "id": "RH20T_cfg2_task_0028_user_0003_scene_0002_cfg_0002_037522062165#224", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close it', and now you are performing subtask 'push the drawer to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002375/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9966131297354663, -0.08223302036821015 ], [ 0.1018397852043144, -0.9948008133036177 ], [ -0.994065495919141, 0.10878322399631497 ] ] }, { "task_id": "0002376", "id": "RH20T_cfg4_task_0095_user_0014_scene_0010_cfg_0004_038522062288#8", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'take down the photo frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002376/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5373264436463846, 0.8433743492413845 ], [ 0.8568807142560461, -0.515514734547955 ], [ -0.9119215051335263, 0.41036467731008686 ], [ -0.4920897713155708, -0.8705444600746072 ] ] }, { "task_id": "0002377", "id": "RH20T_cfg5_task_0102_user_0007_scene_0002_cfg_0005_104122063678#215", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002377/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9484718848626934, -0.31686130029558623 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.4320900618383912, -0.90183045993163 ], [ -0.9340547003256843, 0.35712997185828044 ] ] }, { "task_id": "0002378", "id": "RH20T_cfg5_task_0078_user_0007_scene_0003_cfg_0005_104122063678#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002378/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6464530237689288, 0.7629537915627715 ], [ -0.8137334711121403, 0.5812381936515288 ], [ 0.8068279339643383, -0.5907864969469405 ], [ -0.5210360900117161, -0.8535346465758159 ] ] }, { "task_id": "0002379", "id": "RH20T_cfg5_task_0012_user_0010_scene_0010_cfg_0005_104122063678#331", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002379/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9954319947086572, 0.09547326280348802 ], [ -0.1556174957859281, -0.9878173895034025 ], [ -0.9890352144582522, -0.1476798718902456 ], [ 0.0, 0.9999999998571428 ] ] }, { "task_id": "0002380", "id": "RH20T_cfg4_task_0020_user_0014_scene_0008_cfg_0004_038522062288#125", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002380/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8728844918598807, 0.48792690422902285 ], [ 0.559773969493517, -0.8286453421563843 ], [ -0.5472493629650863, 0.8369696139466026 ], [ -0.7421764041016721, -0.6702045845819855 ] ] }, { "task_id": "0002381", "id": "RH20T_cfg2_task_0127_user_0007_scene_0004_cfg_0002_105422061350#527", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'pick up the power cord 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002381/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6563918024419538, 0.754420175821805 ], [ 0.6986492100445537, -0.7154643815761349 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6517528730140787, -0.7584314026448894 ] ] }, { "task_id": "0002382", "id": "RH20T_cfg4_task_0126_user_0010_scene_0005_cfg_0004_104122062823#245", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002382/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999998, 0.0 ], [ -0.09886970781390307, -0.9951003873362695 ], [ -0.9879060975644737, -0.15505335338177245 ], [ -0.06219122223027118, 0.998064252379327 ] ] }, { "task_id": "0002383", "id": "RH20T_cfg4_task_0011_user_0010_scene_0005_cfg_0004_104122062823#149", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002383/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9748275178265902, 0.22296033388934675 ], [ 0.3405566232515202, -0.9402240086062057 ], [ -0.9367128116483451, -0.35009871249956354 ], [ -0.31622776599183794, 0.9486832979755138 ] ] }, { "task_id": "0002384", "id": "RH20T_cfg4_task_0014_user_0010_scene_0004_cfg_0004_104122062823#140", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002384/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8792919665045592, 0.47628314852330295 ], [ 0.5441025847919359, -0.8390186989708478 ], [ -0.905124483871567, -0.4251466437551042 ], [ -0.4917991292596584, 0.8707086863351265 ] ] }, { "task_id": "0002385", "id": "RH20T_cfg4_task_0107_user_0015_scene_0005_cfg_0004_104122062823#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the garbage in the trash can and close the lid of the trash can', and now you are performing subtask 'pick up the first piece of garbage from the surface next to the trash can'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002385/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8341611642776103, -0.5515207629917678 ], [ 0.6246950474568633, 0.7808688093210792 ], [ -0.5525005897247007, -0.833512506417185 ], [ -0.7397872752990462, 0.672840833559924 ] ] }, { "task_id": "0002386", "id": "RH20T_cfg4_task_0107_user_0015_scene_0005_cfg_0004_104122062823#280", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the garbage in the trash can and close the lid of the trash can', and now you are performing subtask 'pick up the second piece of garbage from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002386/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.30264143455972875, 0.9531044864481698 ], [ 0.9655064052753054, -0.26037930288784056 ], [ -0.39168811001681486, -0.9200980515529068 ], [ -0.9486832979755138, 0.31622776599183794 ] ] }, { "task_id": "0002387", "id": "RH20T_cfg4_task_0107_user_0015_scene_0005_cfg_0004_104122062823#385", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the garbage in the trash can and close the lid of the trash can', and now you are performing subtask 'press the lid of the trash can closed'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002387/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5358357999426461, -0.8443222107109493 ], [ 0.8889745564026551, 0.4579565896619739 ], [ -0.8237730694124663, -0.566919685767538 ], [ -0.49326392291998356, 0.8698797056752091 ] ] }, { "task_id": "0002388", "id": "RH20T_cfg2_task_0085_user_0014_scene_0002_cfg_0002_105422061350#141", "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 outside the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002388/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3819082957929431, 0.9242002237635143 ], [ 0.8925648475840193, -0.4509190535532031 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.3663771232570703, -0.9304664440773098 ] ] }, { "task_id": "0002390", "id": "RH20T_cfg4_task_0092_user_0014_scene_0001_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'twist the handle of the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002390/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.46308971466034987, 0.8863114103833911 ], [ 0.7600403826917691, 0.64987584712601 ], [ 0.6037980851764776, -0.7971372982976139 ], [ -0.8436614876674016, -0.5368754921519828 ] ] }, { "task_id": "0002391", "id": "RH20T_cfg4_task_0064_user_0015_scene_0005_cfg_0004_104122062823#168", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002391/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9322987757222584, -0.36168908303510944 ], [ -0.21547178895737756, -0.9765100655720388 ], [ -0.9876062971672656, 0.15695159061176447 ], [ 0.2248595066819045, 0.9743911956215862 ] ] }, { "task_id": "0002392", "id": "RH20T_cfg7_task_0002_user_0014_scene_0005_cfg_0007_104122064161#75", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002392/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.999999999875 ], [ 0.999949949553963, -0.010004918141938136 ], [ 0.1222393549205454, -0.9925006499285575 ], [ -0.9997201382609778, -0.02365682048482744 ] ] }, { "task_id": "0002393", "id": "RH20T_cfg4_task_0091_user_0007_scene_0001_cfg_0004_104122062823#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 from the white box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002393/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.905458935933248, 0.42443387621871004 ], [ 0.2855197520857072, -0.958372824723717 ], [ -0.8866759003164576, -0.4623914443391004 ], [ -0.30799395237521937, 0.9513883146750811 ] ] }, { "task_id": "0002394", "id": "RH20T_cfg4_task_0101_user_0007_scene_0001_cfg_0004_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002394/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988955480072041, -0.046985999738086086 ], [ -0.11268390210929104, -0.9936308862980376 ], [ -0.9995222039918329, 0.03090895869014322 ], [ -0.0333148302315286, 0.999444906945858 ] ] }, { "task_id": "0002395", "id": "RH20T_cfg4_task_0206_user_0010_scene_0001_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife from the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002395/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1643989872918438, 0.9863939237510627 ], [ 0.9701035138675311, -0.24269151691369198 ], [ -0.15665763529800195, -0.9876529680524623 ], [ -0.9690975099816005, 0.2466779604007253 ] ] }, { "task_id": "0002396", "id": "RH20T_cfg6_task_0078_user_0014_scene_0006_cfg_0006_104122064161#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002396/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.961959493918049, -0.2731921156639244 ], [ -0.32310506906436715, 0.94636309857523 ], [ 0.9496684994612026, 0.3132566697312413 ], [ 0.37139067631962097, -0.9284766907990525 ] ] }, { "task_id": "0002397", "id": "RH20T_cfg7_task_0014_user_0020_scene_0003_cfg_0007_104122064161#119", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002397/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9642519487727288, -0.26498713041956373 ], [ -0.2154577153572882, -0.9765131708753435 ], [ -0.9515819868147694, 0.3073950591171826 ] ] }, { "task_id": "0002398", "id": "RH20T_cfg5_task_0001_user_0007_scene_0007_cfg_0005_104122063678#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button', and now you are performing subtask 'press the red button on the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002398/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.05782053583743934, 0.9983269933420971 ], [ 0.9899811641925724, -0.1411994849279518 ], [ -0.9999999996666666, 0.0 ], [ 0.04510297748248182, -0.9989823428981189 ] ] }, { "task_id": "0002399", "id": "RH20T_cfg3_task_0076_user_0010_scene_0004_cfg_0003_036422060909#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'choose three types of blocks in order, and finally, a small red Lego block is placed on top of the black combination block', and now you are performing subtask 'pick up yellow Lego block from the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002399/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9938385069855131, 0.11083781860360742 ], [ -0.055691190354691694, -0.9984480413706452 ], [ -0.9980791850194545, 0.06195111323375415 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002400", "id": "RH20T_cfg2_task_0026_user_0003_scene_0010_cfg_0002_037522062165#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the handle of the drawer to the position of closing 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002400/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9106001954105062, -0.41328837888131836 ], [ -0.3607556476392612, 0.9326603683530127 ], [ 0.9311081681992484, 0.3647431686990727 ], [ 0.44721359543329126, -0.8944271908665825 ] ] }, { "task_id": "0002401", "id": "RH20T_cfg5_task_0024_user_0010_scene_0001_cfg_0005_104122063678#306", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the power strip by pressing the switch', and now you are performing subtask 'press the switch on the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002401/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8685799248876792, 0.49554910360337995 ], [ 0.3396763037569425, -0.9405424013121478 ], [ -0.9259574157095464, -0.3776279442685596 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002402", "id": "RH20T_cfg4_task_0073_user_0007_scene_0010_cfg_0004_104122062823#126", "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 cube from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002402/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, 0.7071067810198809 ], [ 0.7625662565136266, -0.6469101208257557 ], [ -0.7545060211711584, -0.6562931235480588 ], [ -0.7942394468751321, 0.6076048889101242 ] ] }, { "task_id": "0002403", "id": "RH20T_cfg4_task_0073_user_0007_scene_0010_cfg_0004_104122062823#280", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the cube in 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002403/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8856492330440008, -0.46435486000318016 ], [ 0.40613846601221054, 0.9138115485274737 ], [ -0.49892445893596277, -0.8666454778486166 ], [ -0.936401460416786, 0.35093062694685173 ] ] }, { "task_id": "0002404", "id": "RH20T_cfg3_task_0026_user_0010_scene_0007_cfg_0003_104122062823#10", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002404/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3048467533638732, 0.9524014158764706 ], [ 0.8434076495708779, -0.5372741726952146 ], [ -0.401453990839764, -0.9158791913996227 ], [ -0.9048187021528354, 0.4257970363072167 ] ] }, { "task_id": "0002405", "id": "RH20T_cfg4_task_0122_user_0007_scene_0003_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002405/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08415205213032279, -0.9964529251912784 ], [ 0.9999999998333333, 0.0 ], [ -0.9932932718033999, -0.11562212673228857 ], [ 0.1418543826417456, 0.9898875360995961 ] ] }, { "task_id": "0002406", "id": "RH20T_cfg2_task_0005_user_0002_scene_0001_cfg_0002_104122061850#162", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block's side', and now you are performing subtask 'push the side of the small block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002406/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.991988432045798, -0.12632874054354892 ], [ -0.30467088893239863, -0.9524576890535045 ], [ -0.9648792487737948, 0.2626938051909818 ], [ 0.1961161350997225, 0.9805806754986125 ] ] }, { "task_id": "0002407", "id": "RH20T_cfg6_task_0119_user_0020_scene_0004_cfg_0006_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the switch handle clockwise', and now you are performing subtask 'twist the switch handle clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002407/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7501088386465389, -0.6613143958695747 ], [ -0.7312766421791146, -0.6820809868360497 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7063370512241179, 0.7078756741603838 ] ] }, { "task_id": "0002408", "id": "RH20T_cfg7_task_0014_user_0014_scene_0009_cfg_0007_104122064161#84", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002408/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.09809289635705111, -0.9951772624433725 ], [ -0.9968484145421166, -0.0793299339774624 ], [ -0.07085308584258956, 0.9974867619304943 ] ] }, { "task_id": "0002409", "id": "RH20T_cfg4_task_0091_user_0014_scene_0004_cfg_0004_104122062823#193", "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 from the blue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002409/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810615475, -0.7071067810615475 ], [ -0.7877770072291395, 0.6159605400357238 ], [ 0.6812722051449569, 0.7320301786790813 ], [ 0.781752855837157, -0.6235883837840865 ] ] }, { "task_id": "0002410", "id": "RH20T_cfg7_task_0001_user_0014_scene_0006_cfg_0007_104122064161#83", "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 button panel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002410/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9190468341741789, -0.3941483433866232 ], [ 0.4472135954817761, 0.8944271909635522 ], [ -0.5695138250599261, -0.8219817534870296 ], [ -0.9081400553222206, 0.4186665020267971 ] ] }, { "task_id": "0002411", "id": "RH20T_cfg6_task_0083_user_0007_scene_0007_cfg_0006_104122064161#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swat with a flyswatter', and now you are performing subtask 'pick up the flyswatter 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002411/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6623814252577697, 0.7491667687995016 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.6397647132325383, -0.7685708241291028 ], [ -0.7638968299477036, -0.6453383865816826 ] ] }, { "task_id": "0002412", "id": "RH20T_cfg3_task_0045_user_0010_scene_0001_cfg_0003_104122062823#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002412/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9651147577009097, 0.26182724164592647 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.2380556028759798, -0.9712515276381056 ], [ -0.906954288405996, -0.42122905733338634 ] ] }, { "task_id": "0002413", "id": "RH20T_cfg7_task_0039_user_0014_scene_0007_cfg_0007_104122064161#120", "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 filled with water from the left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002413/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8784032831798633, 0.4779201524301284 ], [ 0.5180970456830915, -0.8553218407444373 ], [ -0.470588235266436, 0.8823529411245675 ], [ -0.9261528082477224, -0.3771484797461837 ] ] }, { "task_id": "0002414", "id": "RH20T_cfg1_task_0022_user_0001_scene_0002_cfg_0001_039422060546#159", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002414/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9890199004618265, -0.14778239573940674 ], [ 0.0, 0.9999999996666666 ], [ -0.0008148150056130367, -0.9999996680381983 ], [ -0.9935306744110665, -0.11356407444386374 ] ] }, { "task_id": "0002416", "id": "RH20T_cfg7_task_0045_user_0020_scene_0004_cfg_0007_104122064161#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002416/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6199636829507976, -0.7846305065583946 ], [ 0.79999999984, -0.59999999988 ], [ -0.8812757515957631, 0.47260242239045164 ], [ 0.5706216793484232, 0.8212130655667781 ] ] }, { "task_id": "0002417", "id": "RH20T_cfg7_task_0050_user_0014_scene_0007_cfg_0007_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the plate rack', and now you are performing subtask 'pick up the plate 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002417/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993328275451514, -0.036522592879103435 ], [ 0.01815186582646834, -0.9998352413107962 ], [ 0.0, 0.9999999998333333 ], [ -0.9999029871716067, -0.013928971437175457 ] ] }, { "task_id": "0002418", "id": "RH20T_cfg6_task_0044_user_0014_scene_0001_cfg_0006_104122064161#337", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002418/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8367443575190832, -0.5475937181524062 ], [ -0.6784994490911653, -0.7346009104152983 ], [ -0.7016603046222789, 0.7125116258120783 ], [ 0.6441357457568477, 0.7649111980862566 ] ] }, { "task_id": "0002419", "id": "RH20T_cfg4_task_0213_user_0014_scene_0005_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002419/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9025821557542233, -0.4305176559841178 ], [ -0.33783037742867417, -0.941207010219537 ], [ 0.36244626113618167, 0.9320046714930386 ], [ -0.955036538368754, 0.29648812856609896 ] ] }, { "task_id": "0002420", "id": "RH20T_cfg4_task_0096_user_0014_scene_0007_cfg_0004_104122062823#239", "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 out to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002420/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8949427134093804, -0.44618106158313775 ], [ -0.47626890015792717, -0.8792996842614913 ], [ 0.4472135954499579, 0.8944271908999158 ], [ -0.9441504122274383, 0.32951479343234086 ] ] }, { "task_id": "0002421", "id": "RH20T_cfg2_task_0072_user_0007_scene_0015_cfg_0002_105422061350#355", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the black object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002421/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9803660728896122, 0.1971861129161981 ], [ 0.22924418055553386, -0.9733689463309491 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9428838987212085, -0.33312152967392245 ] ] }, { "task_id": "0002422", "id": "RH20T_cfg2_task_0015_user_0003_scene_0004_cfg_0002_037522062165#214", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002422/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997599562884234, 0.021909582428010853 ], [ 0.0, 0.99999999975 ], [ -0.023742086016575268, -0.9997181169467629 ], [ -0.9999153835318838, 0.013008680804972347 ] ] }, { "task_id": "0002423", "id": "RH20T_cfg2_task_0046_user_0007_scene_0008_cfg_0002_037522062165#712", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002423/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.15297861353651424, 0.988229499559918 ], [ 0.9971736800840323, 0.07513089742355017 ], [ 0.08681327428478096, -0.996224600884738 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002424", "id": "RH20T_cfg2_task_0028_user_0006_scene_0004_cfg_0002_037522062165#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002424/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.005067277053494659, -0.999987161269215 ], [ 0.9999999989999999, 0.0 ], [ -0.998777666296027, -0.04942846657809769 ], [ -0.02890695312958932, 0.9995821067129822 ] ] }, { "task_id": "0002425", "id": "RH20T_cfg1_task_0005_user_0004_scene_0008_cfg_0001_039422060546#188", "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 'transfer the small piece from near the surface to [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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002425/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6709016878930084, 0.7415463068361358 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6212393518208189, 0.7836208699040939 ], [ 0.6363449520587111, -0.7714046292247647 ] ] }, { "task_id": "0002426", "id": "RH20T_cfg6_task_0033_user_0014_scene_0001_cfg_0006_104122064161#69", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the black dot on the board', and now you are performing subtask 'push the block to the black dot on the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002426/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5838204391899082, -0.8118828085284863 ], [ -0.8032863870818567, -0.5955929653118626 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.593987189973447, 0.8044744981336873 ] ] }, { "task_id": "0002427", "id": "RH20T_cfg7_task_0018_user_0014_scene_0003_cfg_0007_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the block from the middle of the block tower to the table', and now you are performing subtask 'pull the block to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002427/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8377114959250775, 0.5461130373786812 ], [ 0.40605334056908926, -0.9138493774209638 ], [ -0.8810179905367899, -0.47308276268589294 ], [ -0.52409742563, 0.8516583166487499 ] ] }, { "task_id": "0002428", "id": "RH20T_cfg7_task_0045_user_0014_scene_0002_cfg_0007_104122064161#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002428/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987454025125675, -0.050076151609419015 ], [ -0.16975847154717305, -0.9854856981904749 ], [ -0.9700277903772603, 0.24299400382686442 ], [ 0.19611613511895326, 0.9805806755947664 ] ] }, { "task_id": "0002429", "id": "RH20T_cfg4_task_0104_user_0007_scene_0008_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'swipe the plate to the left', and now you are performing subtask 'slide the plate to the left on the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002429/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271908999158, 0.4472135954499579 ], [ 0.3502991622552714, -0.9366378686147891 ], [ -0.8380382420391141, -0.545611496286498 ], [ -0.5633437737077084, 0.8262226047650586 ] ] }, { "task_id": "0002430", "id": "RH20T_cfg4_task_0029_user_0016_scene_0001_cfg_0004_104122062823#87", "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 outwards to open 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002430/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.470588235266436, 0.8823529411245675 ], [ 0.90671871135537, -0.42173591082341716 ], [ -0.3717739108912243, -0.9283233053094402 ], [ -0.8157973048833158, 0.5783379266009782 ] ] }, { "task_id": "0002433", "id": "RH20T_cfg4_task_0094_user_0015_scene_0008_cfg_0004_104122062823#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid of the pink box 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002433/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4821002554370479, 0.8761160560722153 ], [ 0.8788583601247832, -0.47708278405196813 ], [ -0.8682431420167669, 0.4961389382952954 ], [ -0.4475500949015732, -0.8942588621610595 ] ] }, { "task_id": "0002434", "id": "RH20T_cfg4_task_0045_user_0014_scene_0001_cfg_0004_104122062823#2270", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002434/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.15796792400871001, 0.9874442439876686 ], [ -0.9615239475747854, -0.2747211278785101 ], [ 0.9223558151676752, 0.38634149431089254 ], [ 0.13532803073819516, -0.9908008498666733 ] ] }, { "task_id": "0002435", "id": "RH20T_cfg4_task_0082_user_0015_scene_0002_cfg_0004_104122062823#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scoop the large spoon from the white bowl to the red bowl', and now you are performing subtask 'pick up the large spoon in the white bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002435/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6124636590868833, 0.7904987452854723 ], [ -0.8137334711121403, 0.5812381936515288 ], [ 0.7600600551652485, -0.6498528391429857 ], [ -0.6958069209785115, -0.718228883238765 ] ] }, { "task_id": "0002436", "id": "RH20T_cfg4_task_0094_user_0014_scene_0001_cfg_0004_104122062823#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002436/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.48072666738015896, -0.8768704985740859 ], [ -0.9683661871203171, -0.24953341989011998 ], [ -0.4707373455629142, 0.8822733995153552 ], [ 0.939793423448291, 0.34174306307210583 ] ] }, { "task_id": "0002437", "id": "RH20T_cfg2_task_0004_user_0002_scene_0008_cfg_0002_104122061850#265", "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 piece from the front'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002437/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9985427408385297, 0.053966607440870805 ], [ 0.10589912106699403, -0.994376878329961 ], [ -0.9433476127001711, -0.33180609037943826 ] ] }, { "task_id": "0002438", "id": "RH20T_cfg6_task_0041_user_0014_scene_0008_cfg_0006_104122064161#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge on the wet area of the table to clean'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002438/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970724092134751, 0.07646313350390921 ], [ 0.19151013732209612, -0.9814906353617807 ], [ -0.9994965670243395, -0.031727157240444656 ], [ -0.06651901051934915, 0.9977851577902372 ] ] }, { "task_id": "0002439", "id": "RH20T_cfg4_task_0094_user_0007_scene_0004_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002439/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.040275931703602184, 0.999188595474051 ], [ 0.9923426491672656, -0.12351545103222243 ], [ -0.9999999998571428, 0.0 ], [ -0.05514708106008777, -0.9984782418513446 ] ] }, { "task_id": "0002440", "id": "RH20T_cfg5_task_0021_user_0010_scene_0008_cfg_0005_104122063678#231", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002440/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8739790951918941, 0.48596351835046026 ], [ 0.5389675414711781, -0.8423265336201359 ], [ -0.9315725726075823, -0.3635554180111898 ], [ -0.4472135954713865, 0.894427190942773 ] ] }, { "task_id": "0002441", "id": "RH20T_cfg5_task_0049_user_0007_scene_0009_cfg_0005_104122063678#320", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel counterclockwise', and now you are performing subtask 'twist the steering wheel counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002441/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7537438505903767, 0.6571683252388172 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.667946998487642, -0.7442088465016726 ], [ -0.7986961441918838, -0.6017345504896802 ] ] }, { "task_id": "0002442", "id": "RH20T_cfg4_task_0070_user_0015_scene_0009_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to the left 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002442/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33587921720342484, 0.9419050649884066 ], [ 0.9056602873100753, -0.42400406128884177 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.457433433114228, -0.8892438665907857 ] ] }, { "task_id": "0002443", "id": "RH20T_cfg4_task_0104_user_0007_scene_0002_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the plate under the goal out of the goal', and now you are performing subtask 'pull the plate from under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002443/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9017678397110825, -0.4322207344202814 ], [ -0.45429716184771357, -0.8908502055548466 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.9230708592523187, 0.384629937471313 ] ] }, { "task_id": "0002444", "id": "RH20T_cfg5_task_0011_user_0010_scene_0005_cfg_0005_104122063678#441", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002444/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8911143671611775, -0.4537787838131418 ], [ -0.5366826705016674, 0.8437841614910764 ], [ 0.4472135952999579, -0.8944271905999158 ], [ 0.8848409726636799, 0.4658931777731813 ] ] }, { "task_id": "0002445", "id": "RH20T_cfg6_task_0021_user_0014_scene_0001_cfg_0006_104122064161#66", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002445/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.03506614013242963, 0.9993849937742445 ], [ 0.9984955471193486, 0.05483285860533446 ], [ -0.057462420711857636, -0.9983476700057619 ], [ -0.9999643839781817, 0.008439832648556462 ] ] }, { "task_id": "0002446", "id": "RH20T_cfg6_task_0001_user_0020_scene_0006_cfg_0006_104122064161#146", "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 red 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002446/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9916336393053, -0.12908417950363316 ], [ -0.04158209482498483, -0.9991350906609006 ], [ -0.9990210868012851, -0.04423650219422088 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0002447", "id": "RH20T_cfg1_task_0210_user_0015_scene_0004_cfg_0001_819112070044#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cut the onions with a kitchen knife', and now you are performing subtask 'pick up the kitchen knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002447/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.609638989248935, -0.79267919285644 ], [ -0.6305795746468316, -0.7761246034228145 ], [ -0.6247685530214263, 0.7808099993951878 ] ] }, { "task_id": "0002448", "id": "RH20T_cfg7_task_0036_user_0020_scene_0008_cfg_0007_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the test tube', and now you are performing subtask 'pick up the test tube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002448/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3846153845857988, 0.9230769230059171 ], [ 0.9118909387202345, -0.4104325960251323 ], [ -0.3334713592251583, -0.9427602306931098 ], [ -0.8956990392154823, 0.44466080460105983 ] ] }, { "task_id": "0002449", "id": "RH20T_cfg6_task_0100_user_0014_scene_0007_cfg_0006_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'pick up the tool from the cup'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002449/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999994, 0.79999999992 ], [ 0.7732698707481139, -0.6340770513062236 ], [ -0.6246161499298116, -0.7809319210064724 ], [ -0.88127855045171, 0.4725972032436637 ] ] }, { "task_id": "0002450", "id": "RH20T_cfg4_task_0077_user_0015_scene_0006_cfg_0004_104122062823#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'pick up the small Lego block from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002450/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9909647048022235, -0.13412290571055396 ], [ -0.10563426584129806, -0.994405049202874 ], [ -0.9994608430621303, 0.03283326340064091 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002451", "id": "RH20T_cfg3_task_0020_user_0010_scene_0001_cfg_0003_104122062823#208", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002451/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999891086604353, 0.014758554440260785 ], [ -0.09484461414535467, -0.9954920889528047 ], [ -0.9997520769443682, -0.022266222073403442 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002452", "id": "RH20T_cfg4_task_0090_user_0014_scene_0007_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block forward', and now you are performing subtask 'push the square forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002452/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.818794426548886, -0.5740868288442794 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.5014956770594983, -0.8651601504291766 ], [ -0.9302579248796861, 0.36690624578840353 ] ] }, { "task_id": "0002453", "id": "RH20T_cfg2_task_0009_user_0003_scene_0004_cfg_0002_104122061850#238", "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 wooden frame'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002453/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7118278920741985, -0.7023539364630935 ], [ -0.634634901580905, -0.772812099863476 ], [ -0.71964577421967, 0.6943413855213958 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002454", "id": "RH20T_cfg7_task_0001_user_0020_scene_0010_cfg_0007_104122064161#88", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002454/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997095803624997, -0.02409885747156955 ], [ 0.23204959787338106, -0.97270395502784 ], [ -0.9736035326672763, -0.22824583496265582 ], [ -0.12403473457382384, 0.9922778765905907 ] ] }, { "task_id": "0002455", "id": "RH20T_cfg2_task_0041_user_0007_scene_0007_cfg_0002_037522062165#518", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002455/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.055387397376492245, -0.9984649399011758 ], [ -0.999885521938534, 0.015130863085281762 ], [ -0.15126431916687255, 0.9884933513924019 ] ] }, { "task_id": "0002456", "id": "RH20T_cfg6_task_0026_user_0014_scene_0002_cfg_0006_104122064161#47", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002456/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7000965097774232, 0.7140482315624557 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.5956292910863008, -0.8032594522319864 ], [ -0.7565880854955981, -0.6538917868318164 ] ] }, { "task_id": "0002457", "id": "RH20T_cfg6_task_0066_user_0007_scene_0002_cfg_0006_104122063633#217", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the large Lego blocks from the table to the base plate', and now you are performing subtask 'pick up the dark blue large Lego block from the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002457/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9956917898924614, 0.09272464365392076 ], [ -0.11210617747510512, -0.9936962337515023 ], [ -0.9999974648470575, 0.002251732545831226 ] ] }, { "task_id": "0002458", "id": "RH20T_cfg4_task_0124_user_0007_scene_0009_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the lever down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002458/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0794403579124748, 0.9968396207689268 ], [ 0.9997937326378232, -0.020309903449522063 ], [ 0.12502412339259575, -0.9921537020895064 ], [ -0.9999999999090909, 0.0 ] ] }, { "task_id": "0002459", "id": "RH20T_cfg4_task_0094_user_0015_scene_0002_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lid of the black box', and now you are performing subtask 'pick up the black box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002459/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999988, 0.79999999984 ], [ 0.7458874256303009, -0.6660720293531341 ], [ -0.567033364931466, -0.8236948239818549 ], [ -0.8589780671686648, 0.512012382783058 ] ] }, { "task_id": "0002460", "id": "RH20T_cfg7_task_0063_user_0020_scene_0009_cfg_0007_104122064161#136", "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 from the marble 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002460/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9481101145769688, 0.3179421498273656 ], [ 0.44923686791985906, -0.8934126910345269 ], [ -0.9118777321204069, -0.41046193692344174 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002461", "id": "RH20T_cfg4_task_0103_user_0007_scene_0001_cfg_0004_104122062823#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate into the goal', and now you are performing subtask 'push the plate to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002461/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2524218971363833, 0.9676172723561359 ], [ 0.9687473026213995, -0.24804972014449547 ], [ -0.3491080009780617, -0.9370824956497169 ], [ -0.927929709676373, 0.3727552198157956 ] ] }, { "task_id": "0002462", "id": "RH20T_cfg6_task_0026_user_0014_scene_0004_cfg_0006_104122064161#64", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002462/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3846153845857988, 0.9230769230059171 ], [ 0.9405149752295217, -0.33975223526713144 ], [ -0.32062453463920454, -0.9472063702210799 ], [ -0.9598928160005337, 0.2803672266698904 ] ] }, { "task_id": "0002463", "id": "RH20T_cfg7_task_0052_user_0014_scene_0007_cfg_0007_104122064161#94", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002463/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995499565532322, 0.02999807251194364 ], [ 0.01757156650009616, -0.999845608106938 ], [ -0.9934573202877893, -0.11420399628123726 ], [ -0.1414213562173095, 0.9899494935211665 ] ] }, { "task_id": "0002464", "id": "RH20T_cfg4_task_0017_user_0016_scene_0010_cfg_0004_104122062823#125", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002464/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2627018635338418, 0.9648770548084594 ], [ 0.9286676676875876, -0.3709128778995095 ], [ -0.32126371126565445, -0.9469897717630419 ], [ -0.9486832979755138, 0.31622776599183794 ] ] }, { "task_id": "0002465", "id": "RH20T_cfg6_task_0050_user_0014_scene_0007_cfg_0006_104122064161#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002465/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999 ], [ 0.9972774559149599, -0.07374059888409777 ], [ 0.13342504037359235, -0.991058907735209 ], [ -0.9995747519326479, 0.02916016630243218 ] ] }, { "task_id": "0002466", "id": "RH20T_cfg7_task_0016_user_0014_scene_0009_cfg_0007_104122064161#108", "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 on the pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002466/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7767750940476497, 0.6297780984340954 ], [ 0.5494833969005913, -0.8355046358522419 ], [ -0.8165267599667604, -0.5773075872168878 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0002467", "id": "RH20T_cfg3_task_0012_user_0011_scene_0003_cfg_0003_104122062823#422", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002467/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9527647423226713, 0.3037093113271532 ], [ 0.4166354001447349, -0.9090736732224933 ], [ -0.8952965711794846, -0.4454705934562439 ], [ -0.35599532757614627, 0.9344877348873839 ] ] }, { "task_id": "0002468", "id": "RH20T_cfg6_task_0068_user_0014_scene_0006_cfg_0006_104122064161#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press a button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002468/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9950699593215593, 0.09917548112205121 ], [ -0.10722797964817153, 0.9942344594614348 ], [ 0.0, -0.9999999989999999 ], [ 0.9974685909261211, 0.07110843913248667 ] ] }, { "task_id": "0002469", "id": "RH20T_cfg6_task_0012_user_0014_scene_0008_cfg_0006_104122064161#37", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002469/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9993418023721007, 0.036276190975365115 ], [ -0.08474223858885888, 0.9964029069603063 ], [ 0.9999752695010614, 0.007032807851751199 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0002470", "id": "RH20T_cfg4_task_0060_user_0016_scene_0006_cfg_0004_104122062823#107", "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 'pick up the knob on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002470/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9723607033842186, 0.2334837521416587 ], [ -0.2747211278596422, 0.9615239475087477 ], [ 0.3615664193469732, -0.9323463543129286 ], [ -0.9245574455724404, -0.3810426876828422 ] ] }, { "task_id": "0002471", "id": "RH20T_cfg3_task_0075_user_0010_scene_0006_cfg_0003_104122062823#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black chess piece on the chessboard', and now you are performing subtask 'pick up the black piece 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002471/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07042550738244338, 0.997517041413291 ], [ 0.9930208527051053, 0.1179389083077577 ], [ -0.9999999996666666, 0.0 ], [ 0.13118320858516347, -0.9913581420381343 ] ] }, { "task_id": "0002472", "id": "RH20T_cfg1_task_0011_user_0001_scene_0003_cfg_0001_819112070044#320", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002472/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990220467281534, 0.04421481822976616 ], [ 0.0, 0.9999999996666666 ], [ -0.07303611496406752, -0.997329296627225 ], [ -0.9990466439590321, -0.0436555058863725 ] ] }, { "task_id": "0002473", "id": "RH20T_cfg2_task_0081_user_0014_scene_0002_cfg_0002_105422061350#9", "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 on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002473/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3203734309700008, -0.9472913304409104 ], [ -0.9540935940903498, -0.29950862043647264 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.37170018203394056, 0.9283528287649774 ] ] }, { "task_id": "0002474", "id": "RH20T_cfg5_task_0011_user_0007_scene_0001_cfg_0005_104122063678#230", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002474/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9470041578968571, -0.3212213021050513 ], [ -0.5335678863169951, -0.8457572409924813 ], [ -0.854321819533176, 0.5197443878191698 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002475", "id": "RH20T_cfg2_task_0021_user_0003_scene_0003_cfg_0002_037522062165#313", "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 desk lamp's button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002475/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502941070744, 0.554700196071383 ], [ 0.5731029380336228, 0.8194833875175442 ], [ 0.8232797974156191, -0.5676357768563371 ], [ -0.5952777153327564, -0.8035200318773726 ] ] }, { "task_id": "0002476", "id": "RH20T_cfg6_task_0109_user_0020_scene_0002_cfg_0006_104122064161#244", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002476/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998044533623508, -0.01977511154990252 ], [ -0.11367923380455636, -0.993517504527026 ], [ -0.9916107614648296, -0.12925980716038823 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002477", "id": "RH20T_cfg4_task_0104_user_0015_scene_0004_cfg_0004_104122062823#180", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate back after holding it down', and now you are performing subtask 'slide the plate back 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002477/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6819458988758804, 0.7314026189496231 ], [ 0.6311840116762718, -0.7756331242309394 ], [ -0.7964416877506836, -0.6047153363466505 ] ] }, { "task_id": "0002478", "id": "RH20T_cfg4_task_0009_user_0010_scene_0010_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the Hanoi block on the table', and now you are performing subtask 'pick up the Hanoi block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002478/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9615239475747854, 0.2747211278785101 ], [ 0.19299446363677458, -0.9811998456000458 ], [ -0.9144815113190534, -0.4046276874555424 ], [ -0.18800190568784034, 0.9821686634472413 ] ] }, { "task_id": "0002479", "id": "RH20T_cfg6_task_0045_user_0020_scene_0002_cfg_0006_104122064161#247", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002479/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.933706461888156, -0.35803944339737426 ], [ -0.42986689135965866, -0.9028922724848095 ], [ -0.8893036267098997, 0.4573172416612122 ] ] }, { "task_id": "0002480", "id": "RH20T_cfg5_task_0075_user_0007_scene_0002_cfg_0005_104122063678#281", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black pieces and the white pieces on the chessboard', and now you are performing subtask 'pick up the black pawn 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002480/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.13096557365183484, 0.9913869166566834 ], [ 0.9998158990632106, -0.019187703886187568 ], [ 0.1275203424156575, -0.9918359553223475 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002481", "id": "RH20T_cfg4_task_0073_user_0007_scene_0006_cfg_0004_104122062823#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block from the desk and put it into the drawer, then close the drawer', 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002481/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9250685399101186, 0.3798002059880447 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.4463943311383249, 0.8948363543841787 ], [ 0.9181066489174101, -0.3963334217721785 ] ] }, { "task_id": "0002482", "id": "RH20T_cfg4_task_0073_user_0007_scene_0006_cfg_0004_104122062823#302", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block from the desk and put it into the drawer, then close the drawer', and now you are performing subtask 'push the drawer to the closed 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002482/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6506322721527503, 0.7593929459992037 ], [ -0.7752349854950306, 0.6316729511440989 ], [ 0.8229281089359043, -0.5681455161516076 ], [ -0.6861228124767335, -0.7274857292064342 ] ] }, { "task_id": "0002483", "id": "RH20T_cfg4_task_0026_user_0016_scene_0005_cfg_0004_104122062823#72", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002483/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04644628211861159, 0.9989207890905857 ], [ 0.9964859948575364, 0.08375954902448965 ], [ -0.99999999975, 0.0 ], [ 0.01641473281960118, -0.999865269197036 ] ] }, { "task_id": "0002484", "id": "RH20T_cfg3_task_0014_user_0011_scene_0008_cfg_0003_104122062823#180", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002484/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.010704229430942729, 0.9999427080949637 ], [ -0.9999999999, 0.0 ], [ 0.9949564416901439, -0.10030792161782302 ], [ -0.08455631918530007, -0.9964187015937797 ] ] }, { "task_id": "0002485", "id": "RH20T_cfg5_task_0092_user_0007_scene_0006_cfg_0005_104122063678#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands', and now you are performing subtask 'turn the hands of the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002485/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9131055310300493, 0.40772329980310384 ], [ 0.41694153019904534, -0.9089333091020917 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9646919900244069, -0.26338064542169726 ] ] }, { "task_id": "0002486", "id": "RH20T_cfg5_task_0013_user_0007_scene_0006_cfg_0005_104122063678#286", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002486/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7401743532726153, 0.6724149959344049 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7926835685108977, -0.6096332997899877 ], [ -0.6934645871772832, -0.7204907121754174 ] ] }, { "task_id": "0002487", "id": "RH20T_cfg7_task_0014_user_0020_scene_0002_cfg_0007_104122064161#101", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002487/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.46031716443986526, 0.8877545314197401 ], [ 0.8550029329124984, -0.5186231625284641 ], [ -0.5518949923592765, -0.8339136150757789 ], [ -0.9017042557448921, 0.43235336840546335 ] ] }, { "task_id": "0002488", "id": "RH20T_cfg4_task_0043_user_0014_scene_0006_cfg_0004_036422060909#208", "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 to unscrew the lid from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002488/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6863488860668925, 0.727272443170189 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.8078822584611207, 0.5893439203586978 ], [ 0.5945416582043884, -0.8040648087434098 ] ] }, { "task_id": "0002489", "id": "RH20T_cfg6_task_0004_user_0020_scene_0002_cfg_0006_104122064161#153", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002489/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.029750899526551543, -0.9995573440165207 ], [ -0.9948114760123484, -0.10173557487001665 ], [ 0.9999999989999999, 0.0 ], [ -0.09936187947552615, 0.9950513639541886 ] ] }, { "task_id": "0002490", "id": "RH20T_cfg5_task_0001_user_0014_scene_0003_cfg_0005_104122063678#253", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002490/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.817437532316349, 0.5760172573461302 ], [ 0.5717595399393143, -0.8204212506318835 ], [ -0.8654629200356074, -0.5009729873390778 ] ] }, { "task_id": "0002491", "id": "RH20T_cfg2_task_0011_user_0013_scene_0008_cfg_0002_105422061350#440", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the kettle 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002491/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8825689339540496, 0.4701830248097146 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.48247908587669286, -0.8759074903730365 ], [ -0.9393784750627087, -0.3428820213847031 ] ] }, { "task_id": "0002492", "id": "RH20T_cfg5_task_0001_user_0007_scene_0006_cfg_0005_104122063678#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 table 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002492/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502941070744, 0.554700196071383 ], [ 0.6049549228313598, 0.7962597197787313 ], [ 0.8664989582515078, -0.4991788811128249 ], [ -0.4210447433568792, -0.9070398690749706 ] ] }, { "task_id": "0002493", "id": "RH20T_cfg4_task_0201_user_0010_scene_0005_cfg_0004_104122062823#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002493/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, -0.9486832977505137 ], [ -0.979750576277508, -0.20022189761335096 ], [ -0.28116186173452207, 0.9596603604953043 ], [ 0.9786366357303015, 0.20559750778274818 ] ] }, { "task_id": "0002494", "id": "RH20T_cfg6_task_0101_user_0014_scene_0009_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the stain to clean 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002494/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8791537463028312, 0.47653823599129713 ], [ 0.3534811560750418, 0.9354416455877149 ], [ -0.40613846601221054, -0.9138115485274737 ], [ 0.898784607325565, -0.43839049902413496 ] ] }, { "task_id": "0002495", "id": "RH20T_cfg4_task_0020_user_0014_scene_0009_cfg_0004_038522062288#203", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002495/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9963573333881218, -0.08527639886692592 ], [ 0.06651901051934915, 0.9977851577902372 ], [ -0.20371827379225618, -0.9790295526301049 ], [ -0.9842869895513678, 0.17657610880270733 ] ] }, { "task_id": "0002496", "id": "RH20T_cfg6_task_0084_user_0007_scene_0009_cfg_0006_104122064161#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002496/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9471665349766483, 0.3207421940130888 ], [ -0.2747211278596422, 0.9615239475087477 ], [ 0.3741086704929331, -0.9273848729961095 ], [ -0.9089534389011784, -0.4168976444041413 ] ] }, { "task_id": "0002497", "id": "RH20T_cfg4_task_0024_user_0014_scene_0009_cfg_0004_038522062288#112", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002497/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7015433746696408, -0.7126267560631807 ], [ -0.7096481544838916, 0.7045562410749101 ], [ 0.7270131525204536, -0.686623532935984 ], [ 0.6936825697301321, 0.720280842763849 ] ] }, { "task_id": "0002498", "id": "RH20T_cfg3_task_0022_user_0011_scene_0005_cfg_0003_104122062823#148", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002498/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949318214105611, -0.1005518311353072 ], [ -0.05884198895378242, -0.998267309059033 ], [ 0.0, 0.9999999995 ], [ -0.9909550930147538, 0.13419390309593318 ] ] }, { "task_id": "0002499", "id": "RH20T_cfg1_task_0048_user_0014_scene_0001_cfg_0001_038522062547#695", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002499/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9719286017442481, 0.23527599348737369 ], [ 0.2578529993563535, -0.966184159838554 ], [ -0.973841504756017, -0.2272283512560359 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0002500", "id": "RH20T_cfg2_task_0005_user_0013_scene_0003_cfg_0002_105422061350#185", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002500/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7256588906558235, 0.6880546303980227 ], [ 0.6867272055446666, -0.7269152255695387 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6800952843907229, -0.733123730450394 ] ] }, { "task_id": "0002501", "id": "RH20T_cfg3_task_0013_user_0010_scene_0008_cfg_0003_038522062288#164", "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 fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002501/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5727272052043972, -0.81974602677827 ], [ 0.8574929256390147, -0.5144957553834089 ], [ -0.7762898457744046, 0.6303761379902885 ], [ 0.43826067986287964, 0.8988479162161565 ] ] }, { "task_id": "0002502", "id": "RH20T_cfg4_task_0107_user_0007_scene_0010_cfg_0004_104122062823#131", "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 ground'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002502/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6106442375574637, -0.7919050543707017 ], [ 0.8221921915917786, 0.5692099787943082 ], [ -0.7350314118857298, -0.6780330549031298 ], [ -0.504918998297118, 0.8631667307992327 ] ] }, { "task_id": "0002503", "id": "RH20T_cfg4_task_0107_user_0007_scene_0010_cfg_0004_104122062823#232", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002503/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6902670908498848, -0.7235546581217186 ], [ 0.6401843995825127, -0.7682212794990152 ], [ -0.6423741440932174, 0.7663911918860411 ], [ 0.6624335317702749, 0.7491206952062933 ] ] }, { "task_id": "0002504", "id": "RH20T_cfg4_task_0013_user_0010_scene_0006_cfg_0004_104122062823#122", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002504/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.79999999992, 0.59999999994 ], [ 0.5014730048018256, -0.865173292153097 ], [ -0.7484460408025544, -0.6631956905823357 ], [ -0.6767169360476826, 0.7362432943438172 ] ] }, { "task_id": "0002505", "id": "RH20T_cfg2_task_0085_user_0014_scene_0005_cfg_0002_105422061350#147", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002505/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.950085830797823, -0.31198864421194966 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.5397812847117264, -0.8418053009306595 ], [ -0.8178473904044428, 0.5754351796759066 ] ] }, { "task_id": "0002506", "id": "RH20T_cfg4_task_0128_user_0007_scene_0002_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002506/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7210745635371928, -0.6928574700612291 ], [ -0.635034746631201, -0.7724835730104858 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.7763741818852105, 0.6302722663278706 ] ] }, { "task_id": "0002507", "id": "RH20T_cfg7_task_0017_user_0020_scene_0007_cfg_0007_104122064161#149", "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 one side of the Rubik's cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002507/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9893170318834067, 0.1457800069467906 ], [ 0.0, 0.9999999996666666 ], [ 0.11259195594301517, -0.9936413092544645 ], [ -0.999730014790327, 0.02323569511188641 ] ] }, { "task_id": "0002508", "id": "RH20T_cfg4_task_0116_user_0014_scene_0007_cfg_0004_038522062288#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the correction tape on paper', and now you are performing subtask 'pick up the correction tape 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002508/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09726160932846317, -0.9952588504257761 ], [ 0.9999999996666666, 0.0 ], [ -0.9999913174197214, 0.0041671435264525845 ], [ -0.12790834635302387, 0.9917859925070704 ] ] }, { "task_id": "0002509", "id": "RH20T_cfg3_task_0048_user_0010_scene_0003_cfg_0003_104122062823#233", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel clockwise', and now you are performing subtask 'twist the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002509/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40592599883620506, 0.9139059489186123 ], [ 0.908387583668652, -0.4181291640589398 ], [ -0.9599999999616, 0.2799999999888 ], [ -0.24444140319868843, -0.9696640657476465 ] ] }, { "task_id": "0002510", "id": "RH20T_cfg1_task_0019_user_0001_scene_0008_cfg_0001_819112070044#299", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black stone on the Go board', and now you are performing subtask 'pick up the black stone from the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002510/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.027332221164814548, 0.999626405056508 ], [ 0.9999268454046623, 0.012095612389648831 ], [ -0.9999999989999999, 0.0 ], [ 0.11686817188988038, -0.9931474363855135 ] ] }, { "task_id": "0002511", "id": "RH20T_cfg5_task_0118_user_0007_scene_0001_cfg_0005_104122063678#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'turn the handle of the water tap 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002511/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9977966093443398, -0.06634701486079764 ], [ 0.0, 0.99999999975 ], [ -0.12190366181369558, -0.9925419372683515 ], [ -0.9984085206249951, 0.056395265257012224 ] ] }, { "task_id": "0002512", "id": "RH20T_cfg2_task_0096_user_0007_scene_0008_cfg_0002_105422061350#250", "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 open 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002512/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988667309043113, -0.047594683448197256 ], [ 0.024962250866672423, -0.9996883944668304 ], [ -0.9997256391573023, -0.023423202418192728 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002513", "id": "RH20T_cfg2_task_0096_user_0007_scene_0008_cfg_0002_105422061350#392", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002513/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9999640428553291, -0.008480153089744731 ], [ -0.0997990082456272, -0.9950076170327488 ], [ -0.9924687000643477, 0.1224984873073287 ] ] }, { "task_id": "0002514", "id": "RH20T_cfg3_task_0042_user_0010_scene_0009_cfg_0003_104122062823#189", "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 'twist the lid clockwise to screw it onto 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002514/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6247883847323917, -0.7807941305513822 ], [ -0.8711516519623973, -0.491014052022125 ], [ -0.5821658607902638, 0.8130700526586446 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002515", "id": "RH20T_cfg3_task_0010_user_0010_scene_0001_cfg_0003_104122062823#119", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002515/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6441357457568477, 0.7649111980862566 ], [ 0.7481593448321726, -0.6635190990019009 ], [ -0.6787634740800433, -0.734356961058306 ], [ -0.7290898140073203, 0.6844180324266531 ] ] }, { "task_id": "0002516", "id": "RH20T_cfg2_task_0073_user_0014_scene_0008_cfg_0002_105422061350#79", "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 block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002516/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9535509509245583, -0.30123177785696936 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.24468884593750176, -0.9696016546364664 ], [ -0.9265264066414953, 0.37622974071170745 ] ] }, { "task_id": "0002517", "id": "RH20T_cfg2_task_0073_user_0014_scene_0008_cfg_0002_105422061350#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'place the block in 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002517/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4545321416892291, -0.8907303363933455 ], [ -0.8537822316767639, -0.5206302919280097 ], [ 0.9138115485274737, 0.40613846601221054 ], [ -0.46194716385420626, 0.8869074460207531 ] ] }, { "task_id": "0002518", "id": "RH20T_cfg6_task_0024_user_0014_scene_0005_cfg_0006_104122064161#52", "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 switch on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002518/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5334857507141084, -0.8458090527920614 ], [ -0.825633197697504, -0.5642072516901873 ], [ 0.8320502942801514, 0.5547001961867676 ], [ -0.4885574300195622, 0.8725317401520019 ] ] }, { "task_id": "0002519", "id": "RH20T_cfg5_task_0029_user_0010_scene_0005_cfg_0005_104122063678#195", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer', and now you are performing subtask 'pull the drawer to 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002519/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.928006189706985, -0.3725647753955324 ], [ 0.4472135952999579, -0.8944271905999158 ], [ -0.4194981114085507, 0.9077562087502675 ], [ 0.8630192247554682, 0.5051710776583223 ] ] }, { "task_id": "0002520", "id": "RH20T_cfg6_task_0125_user_0014_scene_0004_cfg_0006_104122064161#334", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002520/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8686965507952906, -0.49534463016809316 ], [ -0.31303156667644855, -0.9497427221432593 ], [ -0.8408680235623619, 0.5412402118748453 ] ] }, { "task_id": "0002521", "id": "RH20T_cfg4_task_0088_user_0014_scene_0010_cfg_0004_104122062823#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the wooden block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002521/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993118714403807, 0.03709155696818314 ], [ -0.013448047637295641, -0.9999095709186632 ], [ 0.04993761694139846, 0.9987523388279693 ], [ -0.9918953685859309, 0.12705737986351137 ] ] }, { "task_id": "0002522", "id": "RH20T_cfg4_task_0084_user_0007_scene_0009_cfg_0004_104122062823#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002522/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999079022526344, 0.013571551596497715 ], [ -0.21314167770191722, -0.9770213023401343 ], [ -0.9982255940315362, 0.05954547355078156 ], [ 0.12403473458151616, 0.9922778766521293 ] ] }, { "task_id": "0002523", "id": "RH20T_cfg2_task_0007_user_0002_scene_0010_cfg_0002_104122061850#158", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002523/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07886362948498393, 0.9968854136481561 ], [ 0.9979686136539989, 0.06370750475034734 ], [ -0.9999999989999999, 0.0 ], [ 0.11617315573619325, -0.9932289755571443 ] ] }, { "task_id": "0002525", "id": "RH20T_cfg6_task_0018_user_0014_scene_0002_cfg_0006_104122064161#70", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the block outside of the block pile'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002525/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998874121968089, -0.015005430029453745 ], [ 0.026180290324092463, -0.9996572374561924 ], [ 0.0, 0.9999999998888889 ], [ -0.9983140519965326, -0.058043549049524766 ] ] }, { "task_id": "0002526", "id": "RH20T_cfg7_task_0045_user_0020_scene_0005_cfg_0007_104122064161#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002526/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9774964107903549, -0.21095204879776308 ], [ -0.32272544497455763, -0.9464926239363801 ], [ -0.9924401770131718, 0.12272935692027512 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0002527", "id": "RH20T_cfg7_task_0062_user_0020_scene_0007_cfg_0007_104122064161#125", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002527/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9455461856897867, -0.3254879578839984 ], [ -0.10308499470650614, -0.9946725510771671 ], [ -0.9327109604180491, 0.36062482487488373 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0002528", "id": "RH20T_cfg7_task_0210_user_0066_scene_0002_cfg_0007_104122064161#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002528/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9580778827161404, -0.28650788933318705 ], [ 0.2248595066819045, 0.9743911956215862 ], [ -0.0930965866756454, -0.9956570823076307 ], [ -0.9806278365075589, 0.195880183445147 ] ] }, { "task_id": "0002529", "id": "RH20T_cfg3_task_0049_user_0010_scene_0001_cfg_0003_104122062823#63", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel counterclockwise', and now you are performing subtask 'rotate the steering wheel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002529/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13300681525546765, 0.9911151230283988 ], [ 0.9995404077375103, -0.030314572402261358 ], [ -0.11109687246916908, -0.9938095818251952 ], [ -0.9970544854251109, 0.07669649887885469 ] ] }, { "task_id": "0002530", "id": "RH20T_cfg2_task_0016_user_0003_scene_0006_cfg_0002_037522062165#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002530/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.9102641107486622, 0.41402807716741535 ], [ 0.35544194303877974, -0.934698360503974 ], [ -0.9274689175446627, -0.37390026342399346 ] ] }, { "task_id": "0002531", "id": "RH20T_cfg5_task_0122_user_0010_scene_0004_cfg_0005_104122063678#298", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002531/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6570924941697427, -0.7538099588794159 ], [ -0.684232833376804, -0.7292636215588646 ], [ -0.7450083046767735, 0.6670551895927652 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002532", "id": "RH20T_cfg4_task_0078_user_0015_scene_0008_cfg_0004_104122062823#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002532/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.037822015152014436, -0.9992844916087915 ], [ -0.989665199415702, -0.14339732586585688 ], [ -0.0011371718411037717, 0.9999993534198929 ], [ 0.9999999999411765, 0.0 ] ] }, { "task_id": "0002534", "id": "RH20T_cfg4_task_0038_user_0014_scene_0009_cfg_0004_104122062823#128", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002534/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2172085300602197, 0.9761252247888478 ], [ -0.9852117547774726, -0.17134117474390828 ], [ 0.9995856735940796, 0.02878334840615796 ], [ 0.25809724966492015, -0.9661189418055128 ] ] }, { "task_id": "0002535", "id": "RH20T_cfg2_task_0073_user_0014_scene_0002_cfg_0002_105422061350#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the wooden block from the desk and put it inside the drawer, then close the drawer', and now you are performing subtask 'pick up the wooden block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002535/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6247092800110193, -0.7808574232650375 ], [ -0.7954051694829042, 0.6060780612758332 ], [ 0.7246724928849697, 0.6890934465338382 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0002536", "id": "RH20T_cfg2_task_0073_user_0014_scene_0002_cfg_0002_105422061350#243", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the wooden block from the desk and put it inside the drawer, then close the drawer', and now you are performing subtask 'place the wooden block in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002536/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9161573348759599, 0.4008188340082324 ], [ 0.3311818570958328, 0.9435669438521865 ], [ 0.8789330339338692, -0.4769451979628308 ], [ -0.43075544769767615, -0.9024686943483272 ] ] }, { "task_id": "0002537", "id": "RH20T_cfg6_task_0060_user_0014_scene_0007_cfg_0006_104122064161#149", "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 'press the knob on the speaker 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002537/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9910798768255396, -0.1332691928071656 ], [ 0.07742342217780668, -0.9969983017529555 ], [ -0.9933475467479417, 0.11515490163187116 ] ] }, { "task_id": "0002538", "id": "RH20T_cfg7_task_0044_user_0014_scene_0006_cfg_0007_104122064161#80", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002538/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9516745302836384, -0.3071084310295245 ], [ 0.1643989872918438, -0.9863939237510627 ], [ -0.14403236303107966, 0.9895729778039027 ], [ 0.9513027927943654, 0.30825800301312667 ] ] }, { "task_id": "0002539", "id": "RH20T_cfg4_task_0035_user_0017_scene_0003_cfg_0004_104122062823#122", "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 block from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002539/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999872127319072, 0.005057111099378886 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.11456881778189794, -0.9934153139508461 ], [ -0.9746718838286624, 0.22363970773073047 ] ] }, { "task_id": "0002540", "id": "RH20T_cfg4_task_0092_user_0014_scene_0010_cfg_0004_104122062823#121", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002540/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8866496726405971, 0.4624417347151118 ], [ 0.3430311108422135, -0.939324042593586 ], [ -0.9136769737975883, -0.40644112433670065 ], [ -0.34174306307210583, 0.939793423448291 ] ] }, { "task_id": "0002541", "id": "RH20T_cfg4_task_0004_user_0010_scene_0003_cfg_0004_104122062823#113", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002541/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9969770608347991, 0.0776964617547364 ], [ -0.04993761694139846, 0.9987523388279693 ], [ 0.09428200414455008, -0.9955455306988661 ], [ -0.9992048209712717, -0.03987136501010137 ] ] }, { "task_id": "0002542", "id": "RH20T_cfg7_task_0036_user_0014_scene_0009_cfg_0007_104122064161#77", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the test tube and then insert it into the test tube rack', and now you are performing subtask 'pick up the test tube from the test tube rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002542/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.22566934549333673, -0.9742039552909899 ], [ 0.9701424999100378, -0.24253562497750944 ], [ -0.9941918510655057, 0.1076223177363482 ], [ 0.11011044520914458, 0.9939193578232813 ] ] }, { "task_id": "0002543", "id": "RH20T_cfg4_task_0201_user_0017_scene_0007_cfg_0004_104122062823#352", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the medium pipette tip is inserted into the holder for medium pipette tips', and now you are performing subtask 'pick up medium pipette from 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002543/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8574929255654853, 0.5144957553392911 ], [ 0.45290677971238436, 0.8915578774765875 ], [ 0.831006762499798, -0.5562623128341561 ], [ -0.5950196379915347, -0.8037111610550293 ] ] }, { "task_id": "0002544", "id": "RH20T_cfg6_task_0102_user_0014_scene_0010_cfg_0006_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002544/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14851049141004438, 0.9889108321487571 ], [ -0.9999999995, 0.0 ], [ 0.9891703696776866, -0.1467718629428306 ], [ -0.06996998155043263, -0.9975490973790875 ] ] }, { "task_id": "0002545", "id": "RH20T_cfg5_task_0071_user_0007_scene_0009_cfg_0005_104122063678#167", "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 the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002545/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902315907455821, -0.13943240903561163 ], [ 0.0006887327850827742, -0.9999997628235473 ], [ -0.9999538826909496, -0.009603774846095143 ], [ 0.0, 0.9999999998333333 ] ] }, { "task_id": "0002546", "id": "RH20T_cfg1_task_0003_user_0004_scene_0003_cfg_0001_039422060546#254", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press three buttons from left to right in sequence', and now you are performing subtask 'press the green button on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002546/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9938030513833437, -0.1111552745539096 ], [ 0.10638876996923234, -0.9943246097851716 ], [ -0.9940247666242453, -0.10915476781897694 ] ] }, { "task_id": "0002547", "id": "RH20T_cfg6_task_0022_user_0014_scene_0005_cfg_0006_104122064161#102", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002547/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9981342208181967, 0.061057982538334325 ], [ -0.060061115761022625, 0.9981947016356784 ], [ 0.9996192613610384, -0.027592251013866313 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0002549", "id": "RH20T_cfg5_task_0123_user_0007_scene_0005_cfg_0005_104122063678#261", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002549/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9493411831194232, 0.314247224384582 ], [ 0.4999951758168828, -0.8660281890099447 ], [ -0.9427236042440096, -0.3335748881453521 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002550", "id": "RH20T_cfg3_task_0046_user_0010_scene_0009_cfg_0003_104122062823#194", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002550/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5411552249544238, -0.8409227208873161 ], [ 0.8320502941070744, -0.554700196071383 ], [ -0.8968447608978621, 0.44234542480968037 ], [ 0.5638717641184176, 0.8258623575572286 ] ] }, { "task_id": "0002551", "id": "RH20T_cfg2_task_0006_user_0013_scene_0006_cfg_0002_105422061350#536", "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 'push the small block from the back position to the front position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002551/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9073264090896038, 0.42042691085201117 ], [ 0.1752058803140496, -0.9845318174154551 ], [ -0.9675193414548534, -0.2527970013880046 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0002552", "id": "RH20T_cfg6_task_0091_user_0020_scene_0009_cfg_0006_104122064161#130", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002552/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7377961420052045, 0.6750235942855896 ], [ 0.6598662194515618, -0.7513831062957853 ], [ -0.7671717907748715, -0.6414416913790971 ] ] }, { "task_id": "0002553", "id": "RH20T_cfg6_task_0091_user_0020_scene_0009_cfg_0006_104122064161#359", "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 object in the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002553/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9487718403071276, -0.315962015185728 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.30364713593502113, -0.9527845595088424 ], [ -0.9664394170406262, 0.2568946344129719 ] ] }, { "task_id": "0002554", "id": "RH20T_cfg3_task_0045_user_0010_scene_0006_cfg_0003_104122062823#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002554/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7273567794068989, 0.6862595102807857 ], [ -0.7071067811032142, -0.7071067811032142 ], [ 0.6531537178046826, 0.7572253435523149 ], [ 0.7544363464755359, -0.6563732163309569 ] ] }, { "task_id": "0002555", "id": "RH20T_cfg6_task_0064_user_0007_scene_0003_cfg_0006_104122063633#79", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002555/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502942609206, 0.5547001961739471 ], [ 0.5303735370701317, 0.8477640657492613 ], [ 0.7565786474764541, -0.6539027069700044 ], [ -0.44172570833159946, -0.8971501538755632 ] ] }, { "task_id": "0002556", "id": "RH20T_cfg3_task_0018_user_0010_scene_0001_cfg_0003_104122062823#240", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the blocks on the table', and now you are performing subtask 'pick up the Jenga block from the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002556/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7293148527529715, -0.6841782264541246 ], [ -0.6118964808011238, -0.7909378589896934 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6995951724737414, 0.7145394283392877 ] ] }, { "task_id": "0002557", "id": "RH20T_cfg4_task_0096_user_0014_scene_0010_cfg_0004_104122062823#194", "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 pull it out of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002557/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.41670950743850455, 0.909039705629165 ], [ 0.8197533134077056, 0.5727167756902953 ], [ 0.5769594102865506, -0.8167728196272178 ], [ -0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0002558", "id": "RH20T_cfg4_task_0088_user_0007_scene_0005_cfg_0004_104122062823#73", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cube on the blue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002558/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999444906945858, 0.0333148302315286 ], [ 0.011334828666091439, -0.9999357587660872 ], [ -0.9839751691210571, -0.1783055426877893 ], [ 0.07734846716120376, 0.9970041196644135 ] ] }, { "task_id": "0002559", "id": "RH20T_cfg4_task_0001_user_0010_scene_0010_cfg_0004_104122062823#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the blue button on the white base on the desktop', and now you are performing subtask 'press the blue button on the white base 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002559/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999974417246156, -0.0022619779450800035 ], [ 0.09377529302656577, -0.9955933880946487 ], [ -0.9985067112865188, 0.05462918190656562 ], [ -0.06651901051934915, 0.9977851577902372 ] ] }, { "task_id": "0002560", "id": "RH20T_cfg7_task_0004_user_0020_scene_0004_cfg_0007_104122064161#103", "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 block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002560/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9749640238948998, -0.2223626589845187 ], [ 0.21693045779512676, 0.9761870600780704 ], [ -0.29758130112271036, -0.9546964801559262 ], [ -0.9358681839281484, 0.3523503119212886 ] ] }, { "task_id": "0002561", "id": "RH20T_cfg4_task_0088_user_0015_scene_0009_cfg_0004_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the small box from the left side of the large 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002561/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5692099787943082, 0.8221921915917786 ], [ 0.7546631639806822, 0.6561124209544169 ], [ 0.6147495529033474, -0.7887223765084483 ], [ -0.7282819632522048, -0.6852775948486234 ] ] }, { "task_id": "0002562", "id": "RH20T_cfg2_task_0072_user_0014_scene_0001_cfg_0002_105422061350#192", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002562/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.5656768392063262, 0.8246270148288499 ], [ 0.860802382744968, 0.5089393459544914 ], [ 0.3276987047211317, -0.9447822812289044 ] ] }, { "task_id": "0002563", "id": "RH20T_cfg6_task_0025_user_0014_scene_0006_cfg_0006_104122064161#35", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that is folded once with one end weighed down', and now you are performing subtask 'fold the paper to unfold it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002563/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6744667372743437, 0.7383052351910431 ], [ 0.820790449309338, -0.5712294095392632 ], [ -0.743294146219542, 0.6689647315975878 ], [ -0.5784934042818463, -0.8156870608281098 ] ] }, { "task_id": "0002564", "id": "RH20T_cfg5_task_0225_user_0010_scene_0001_cfg_0005_104122063678#371", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the bowl into the microwave', and now you are performing subtask 'pull the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002564/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8255205862993877, 0.5643720063893275 ], [ 0.6058241931946804, 0.7955985463410643 ], [ -0.6804510993316614, -0.732793491587943 ], [ 0.8190565485153676, -0.5737127942917898 ] ] }, { "task_id": "0002565", "id": "RH20T_cfg4_task_0094_user_0015_scene_0005_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the top of the black 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002565/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832977505137, 0.31622776591683793 ], [ 0.39417578372704004, 0.9190350654480893 ], [ 0.889858908491397, -0.4562358194820958 ], [ -0.17732836265593338, -0.9841517422622214 ] ] }, { "task_id": "0002566", "id": "RH20T_cfg2_task_0084_user_0007_scene_0009_cfg_0002_037522062165#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002566/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4309130342355818, -0.902393460152435 ], [ -0.8138543119601391, -0.5810689794713607 ], [ -0.5406832255389507, 0.8412262773004635 ], [ 0.8320502941070744, 0.554700196071383 ] ] }, { "task_id": "0002567", "id": "RH20T_cfg6_task_0059_user_0014_scene_0003_cfg_0006_104122064161#163", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002567/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8985556692297884, 0.43885955531924714 ], [ 0.49215177071780913, -0.8705094109653986 ], [ -0.4472135953999579, 0.8944271907999158 ], [ -0.9165999984753443, -0.39980550620895494 ] ] }, { "task_id": "0002568", "id": "RH20T_cfg3_task_0085_user_0010_scene_0008_cfg_0003_038522062288#135", "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 on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002568/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.029488910964307516, 0.999565107499326 ], [ 0.9885090324329528, 0.15116180998674034 ], [ -0.9999999995, 0.0 ], [ -0.12557935064086204, -0.9920835784814803 ] ] }, { "task_id": "0002569", "id": "RH20T_cfg4_task_0042_user_0014_scene_0010_cfg_0004_104122062823#163", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002569/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9970703209449275, -0.07649035946300291 ], [ -0.26789978486761107, 0.9634467838276735 ], [ 0.1961161350997225, -0.9805806754986125 ], [ 0.9988941500280043, 0.04701571056392798 ] ] }, { "task_id": "0002570", "id": "RH20T_cfg4_task_0092_user_0015_scene_0001_cfg_0004_038522062288#85", "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 the clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002570/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9505355396659958, 0.31061582031808066 ], [ 0.4136887100272117, 0.9104183934851172 ], [ -0.41380294426693737, -0.9103664773872623 ], [ 0.9164948500083477, -0.4000464846841882 ] ] }, { "task_id": "0002571", "id": "RH20T_cfg5_task_0067_user_0007_scene_0005_cfg_0005_104122063678#227", "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 button on the surface 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002571/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9968987976907283, 0.07869426384928255 ], [ -0.07495330324509786, -0.9971870448078678 ], [ -0.9969096009467524, 0.07855728826905135 ] ] }, { "task_id": "0002572", "id": "RH20T_cfg4_task_0047_user_0014_scene_0013_cfg_0004_104122062823#140", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002572/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.4083189574907036, 0.9128393226377274 ], [ 0.8697418665622701, -0.49350692553274095 ], [ -0.32523764131434413, -0.9456323157931321 ] ] }, { "task_id": "0002573", "id": "RH20T_cfg6_task_0105_user_0014_scene_0001_cfg_0006_104122064161#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block on the shelf', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002573/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9264352532573638, 0.3764541426548048 ], [ 0.5228141096003985, -0.8524467178673061 ], [ -0.8614667509597185, -0.507813978727355 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0002574", "id": "RH20T_cfg2_task_0110_user_0007_scene_0009_cfg_0002_104422070044#129", "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 to the pencil sharpener socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002574/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07195065204407936, 0.9974081931037222 ], [ 0.9828717138919599, -0.18429105792490705 ], [ -0.9805806754986125, 0.1961161350997225 ], [ -0.19715788631376527, -0.9803717498297717 ] ] }, { "task_id": "0002576", "id": "RH20T_cfg3_task_0029_user_0010_scene_0009_cfg_0003_104122062823#183", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002576/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9900302038544733, -0.14085522871327935 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.3863908394706895, -0.9223351447132089 ], [ -0.9544957522114088, 0.29822451108246784 ] ] }, { "task_id": "0002577", "id": "RH20T_cfg4_task_0106_user_0007_scene_0007_cfg_0004_038522062288#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the object down from the shelf', and now you are performing subtask 'pick up the object on the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002577/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07352939733692689, -0.9972930500746852 ], [ 0.9999999999, 0.0 ], [ -0.9998919745570785, -0.014698272563361774 ], [ 0.04619102061216059, 0.9989326251628821 ] ] }, { "task_id": "0002578", "id": "RH20T_cfg4_task_0010_user_0016_scene_0006_cfg_0004_038522062288#114", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002578/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9774454218290407, -0.21118817993781905 ], [ 0.11043152606265141, 0.9938837345638627 ], [ -0.1750192648154229, -0.9845650089981204 ], [ -0.9992818454039367, 0.0378918651705468 ] ] }, { "task_id": "0002579", "id": "RH20T_cfg6_task_0044_user_0020_scene_0004_cfg_0006_104122064161#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002579/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.5584474645630404, -0.8295398901337486 ], [ -0.9413362656168424, -0.33747005057417695 ], [ -0.44288627639397943, 0.8965777970605093 ] ] }, { "task_id": "0002580", "id": "RH20T_cfg4_task_0103_user_0014_scene_0017_cfg_0004_104122062823#128", "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 to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002580/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.27389048830399504, -0.9617608852602602 ], [ -0.9927123513431302, -0.12050803911272383 ], [ 0.9647638211531168, 0.26311740576903186 ], [ -0.3671454949935379, 0.9301635262178097 ] ] }, { "task_id": "0002581", "id": "RH20T_cfg4_task_0071_user_0007_scene_0009_cfg_0004_104122062823#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pulling the window', and now you are performing subtask 'pull 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002581/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7812975911295104, -0.6241586930382566 ], [ -0.7934938404535787, -0.6085782818686768 ], [ -0.6103869266247994, 0.792103402218127 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002582", "id": "RH20T_cfg3_task_0085_user_0010_scene_0002_cfg_0003_038522062288#143", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002582/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278785101, 0.9615239475747854 ], [ 0.9554082105738005, -0.29528825098227085 ], [ -0.3910260772161459, -0.9203795993702559 ], [ -0.9796193189291709, 0.20086311254371073 ] ] }, { "task_id": "0002583", "id": "RH20T_cfg7_task_0017_user_0020_scene_0009_cfg_0007_104122064161#159", "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 on the cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002583/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4473799180689453, -0.8943440103833781 ], [ 0.9284766907128456, 0.3713906762851382 ], [ -0.8869438222166202, -0.4618773172951586 ], [ -0.399131275045006, 0.9168937917125123 ] ] }, { "task_id": "0002584", "id": "RH20T_cfg5_task_0091_user_0007_scene_0008_cfg_0005_104122063678#210", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the wooden block from the pink box to the black box', and now you are performing subtask 'pick up the wooden block from the pink 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002584/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6225508039966084, 0.7825793866715226 ], [ 0.7258827703886667, 0.6878184380000832 ], [ 0.7238285289753901, -0.6899798987226534 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0002585", "id": "RH20T_cfg2_task_0101_user_0007_scene_0014_cfg_0002_037522062165#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002585/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.808736084243729, 0.5881716976318029 ], [ 0.5528581667510005, 0.833275373125069 ], [ 0.7899852141248753, -0.6131258936499705 ], [ -0.6639273243959792, -0.7477971034447753 ] ] }, { "task_id": "0002586", "id": "RH20T_cfg7_task_0062_user_0020_scene_0005_cfg_0007_104122064161#140", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002586/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9527492801158494, -0.3037578134612031 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.23360631015211372, -0.9723312665224308 ], [ -0.9877164111653313, 0.15625713140422892 ] ] }, { "task_id": "0002587", "id": "RH20T_cfg6_task_0007_user_0014_scene_0005_cfg_0006_104122064161#147", "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 piece 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002587/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9901533394229719, 0.13998701521761567 ], [ 0.0, 0.9999999989999999 ], [ -0.05118345172302605, -0.9986892681258354 ], [ -0.9988612386116155, -0.047709810304270614 ] ] }, { "task_id": "0002588", "id": "RH20T_cfg4_task_0039_user_0010_scene_0002_cfg_0004_104422070011#38", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002588/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.25773192528378125, 0.9662164636816718 ], [ 0.9789144138737917, 0.2042708258908522 ], [ 0.2674910577266933, -0.9635603427062858 ], [ -0.9486832979505138, -0.3162277659835046 ] ] }, { "task_id": "0002589", "id": "RH20T_cfg6_task_0035_user_0014_scene_0008_cfg_0006_104122064161#109", "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 square block from 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002589/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9937858620329222, 0.11130885150553713 ], [ -0.13216372008228433, 0.9912279006171324 ], [ 0.2697422649516043, -0.9629325576065951 ], [ -0.999814163132451, -0.01927794594236237 ] ] }, { "task_id": "0002590", "id": "RH20T_cfg1_task_0200_user_0010_scene_0009_cfg_0001_819112071037#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002590/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9978950174007145, -0.06485009056915622 ], [ 0.08819297788834127, -0.9961034076094643 ], [ -0.9964252212712819, -0.0844794555763526 ], [ 0.0, 0.9999999999411765 ] ] }, { "task_id": "0002591", "id": "RH20T_cfg2_task_0081_user_0014_scene_0007_cfg_0002_105422061350#70", "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 'place 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002591/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999998333333 ], [ -0.9999168420136606, -0.012896086903714214 ], [ 0.10512754511604636, 0.9944587468858995 ], [ 0.9999897761941585, -0.004521891988628839 ] ] }, { "task_id": "0002592", "id": "RH20T_cfg7_task_0050_user_0020_scene_0004_cfg_0007_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002592/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9999987807613192, 0.0015615619985234483 ], [ -0.04091588511150831, -0.999162594548826 ], [ -0.9954744946621146, 0.09502910331686736 ] ] }, { "task_id": "0002593", "id": "RH20T_cfg5_task_0119_user_0010_scene_0004_cfg_0005_104122063678#169", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the water tap 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002593/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.03623917891838716, -0.999343145226564 ], [ -0.9917290311831509, 0.12834924506411774 ], [ 0.08414378699707893, 0.9964536231605514 ] ] }, { "task_id": "0002594", "id": "RH20T_cfg5_task_0068_user_0007_scene_0008_cfg_0005_104122063678#248", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the tool horizontally down with the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002594/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9980299770012007, -0.06273886360927314 ], [ -0.1532812374871328, 0.9881826057133435 ], [ 0.0, -0.9999999989999999 ], [ 0.9885570606109262, -0.1508473994349443 ] ] }, { "task_id": "0002595", "id": "RH20T_cfg1_task_0018_user_0008_scene_0001_cfg_0001_750612070853#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the block 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002595/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.635407927922843, -0.7721766411468294 ], [ -0.8799025231044731, 0.4751542379421466 ], [ 0.5819418109409576, 0.813230427787081 ], [ 0.79999999984, -0.59999999988 ] ] }, { "task_id": "0002596", "id": "RH20T_cfg3_task_0026_user_0011_scene_0001_cfg_0003_104122062823#121", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002596/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8593743740439677, 0.5113469323624996 ], [ -0.44721359543329126, 0.8944271908665825 ], [ 0.5060004236236246, -0.8625332290948056 ], [ -0.8953796237326287, -0.44530363731325656 ] ] }, { "task_id": "0002597", "id": "RH20T_cfg6_task_0062_user_0007_scene_0001_cfg_0006_104122063633#140", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002597/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12403473457382384, 0.9922778765905907 ], [ 0.9910906148296845, 0.13318931337204917 ], [ 0.014096140882934751, -0.9999006444703437 ], [ -0.9696909945183514, -0.2443345557836852 ] ] }, { "task_id": "0002599", "id": "RH20T_cfg3_task_0045_user_0010_scene_0002_cfg_0003_104122062823#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002599/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9893233780627395, 0.1457369329254942 ], [ 0.0, 0.9999999995 ], [ -0.08307451233782905, -0.9965433384453644 ], [ -0.9997534054765522, 0.022206490898753598 ] ] }, { "task_id": "0002600", "id": "RH20T_cfg3_task_0010_user_0011_scene_0006_cfg_0003_038522062288#286", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002600/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999996666666 ], [ -0.99997620365342, -0.006898704725813351 ], [ 0.0066696084642723355, 0.9999777579141115 ], [ 0.9892305829175757, -0.14636548029010626 ] ] }, { "task_id": "0002601", "id": "RH20T_cfg5_task_0024_user_0010_scene_0008_cfg_0005_104122063678#239", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002601/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9284766907128456, 0.3713906762851382 ], [ 0.44947706146894195, 0.8932918734731919 ], [ 0.9488410074197695, -0.3157542440548298 ], [ -0.300651050140346, -0.9537342114286911 ] ] }, { "task_id": "0002602", "id": "RH20T_cfg4_task_0020_user_0016_scene_0001_cfg_0004_104122062823#212", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002602/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9950349993006222, -0.09952562567907237 ], [ 0.0, 0.9999999998 ], [ -0.08243871055976087, -0.9965961363567711 ], [ -0.9990093282550444, 0.044501259076624625 ] ] }, { "task_id": "0002603", "id": "RH20T_cfg4_task_0201_user_0010_scene_0001_cfg_0004_104122062823#254", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002603/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6875236919781128, -0.726161946792026 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6630564955793388, -0.7485693579555914 ], [ -0.7348971856991925, 0.678178535823279 ] ] }, { "task_id": "0002604", "id": "RH20T_cfg4_task_0067_user_0007_scene_0003_cfg_0004_104122062823#112", "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 a button from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002604/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6630272475830026, -0.7485952637857841 ], [ -0.7101470525658834, -0.7040533813085399 ], [ 0.7682212795481955, 0.6401843996234963 ], [ -0.6070922124236099, 0.7946313897742818 ] ] }, { "task_id": "0002605", "id": "RH20T_cfg2_task_0100_user_0007_scene_0001_cfg_0002_037522062165#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'stir the liquid in the beaker with a glass rod'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002605/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ 0.05293129495478782, 0.9985981564244996 ], [ 0.9977377854779975, -0.06722582412630919 ], [ -0.1454427860912402, -0.9893666640705143 ] ] }, { "task_id": "0002606", "id": "RH20T_cfg4_task_0064_user_0015_scene_0006_cfg_0004_104122062823#146", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002606/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4382087930018379, 0.8988732133821057 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9296188227845138, -0.3685225153565717 ], [ -0.25234441477693464, -0.9676374818757727 ] ] }, { "task_id": "0002611", "id": "RH20T_cfg1_task_0010_user_0005_scene_0006_cfg_0001_750612070853#87", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002611/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9868178617290352, -0.16183481631754879 ], [ -0.10480638696197771, -0.994492645147251 ], [ 0.20952908871623932, 0.9778024140091168 ], [ -0.9899390905653597, 0.14149415878625046 ] ] }, { "task_id": "0002612", "id": "RH20T_cfg2_task_0074_user_0014_scene_0003_cfg_0002_037522062165#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the machine horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002612/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8042265209102387, -0.5943228946158927 ], [ -0.6822538048809992, 0.7311154120420384 ], [ 0.6577472239775286, 0.7532387333042923 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0002613", "id": "RH20T_cfg4_task_0067_user_0015_scene_0003_cfg_0004_038522062288#68", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button', and now you are performing subtask 'press the red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002613/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9249949338810394, 0.37997943667310685 ], [ 0.37985068442846315, -0.9250478136503152 ], [ -0.9559488558263929, -0.2935332775754913 ], [ -0.31622776599183794, 0.9486832979755138 ] ] }, { "task_id": "0002614", "id": "RH20T_cfg4_task_0217_user_0014_scene_0004_cfg_0004_038522062288#330", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002614/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999988445495258, 0.004807169227052797 ], [ 0.12356393090289906, -0.9923366137454688 ], [ -0.9999998150068243, 0.0006082650056251493 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002616", "id": "RH20T_cfg4_task_0062_user_0016_scene_0009_cfg_0004_038522062288#101", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002616/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9656059133256454, 0.2600100385572569 ], [ 0.12365434680539819, 0.9923253511405069 ], [ 0.9874656269545027, -0.1578342028311708 ], [ -0.12403473457382384, -0.9922778765905907 ] ] }, { "task_id": "0002617", "id": "RH20T_cfg3_task_0069_user_0010_scene_0001_cfg_0003_104122062823#464", "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 puzzle piece 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002617/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, -0.7071067806865474 ], [ -0.8040559436149634, -0.5945536473165823 ], [ -0.8035082654488732, 0.5952935976099049 ], [ 0.6440411539940308, 0.764990844364844 ] ] }, { "task_id": "0002618", "id": "RH20T_cfg1_task_0007_user_0015_scene_0009_cfg_0001_750612070853#271", "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 on the table from left to right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002618/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949440295455001, 0.10043096171880031 ], [ 0.1432866945842053, -0.9896812229981594 ], [ -0.9971598830975229, -0.07531379382911549 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002619", "id": "RH20T_cfg2_task_0017_user_0003_scene_0007_cfg_0002_037522062165#278", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002619/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4676915712949131, 0.8838917321367449 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.8861001806204967, -0.46349376468764186 ], [ -0.42553637947558626, -0.9049413183973919 ] ] }, { "task_id": "0002620", "id": "RH20T_cfg3_task_0064_user_0010_scene_0010_cfg_0003_038522062288#153", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002620/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.8593507844196572, -0.511386575222033 ], [ -0.5825063115874018, -0.8128261788112148 ], [ -0.8402898468356171, 0.5421374118293028 ] ] }, { "task_id": "0002621", "id": "RH20T_cfg4_task_0101_user_0015_scene_0004_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'control the cloth on the stain area to clean 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002621/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999, 0.0 ], [ 0.0192205423124341, 0.99981526831371 ], [ 0.9886105981729221, 0.15049613011694754 ], [ 0.12851896225290788, -0.9917070516747553 ] ] }, { "task_id": "0002622", "id": "RH20T_cfg4_task_0069_user_0007_scene_0003_cfg_0004_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the puzzle piece on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002622/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9925720118413176, -0.12165854392223928 ], [ -0.04650352353049125, -0.9989181259238662 ], [ -0.9984678365975375, 0.05533515410869657 ], [ 0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0002623", "id": "RH20T_cfg3_task_0026_user_0010_scene_0002_cfg_0003_104122062823#58", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002623/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9909892979113999, -0.1339410744509342 ], [ -0.21031546955232255, -0.9776335731075249 ], [ -0.9479565226382264, 0.31839979771922255 ], [ 0.19201160638155976, 0.9813926548390831 ] ] }, { "task_id": "0002624", "id": "RH20T_cfg4_task_0006_user_0010_scene_0001_cfg_0004_038522062288#88", "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 'push the small block from left to right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002624/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.828831189166667, -0.5594987576970736 ], [ -0.5902867158966274, -0.807193652747576 ], [ -0.7716951478406715, 0.6359926090758949 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0002625", "id": "RH20T_cfg4_task_0217_user_0014_scene_0006_cfg_0004_038522062288#151", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002625/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502941070744, 0.554700196071383 ], [ 0.5677838274144471, -0.8231776997262508 ], [ -0.7436737937773142, -0.668542660156296 ], [ -0.6687803156531988, 0.7434600792206719 ] ] }, { "task_id": "0002626", "id": "RH20T_cfg4_task_0217_user_0014_scene_0006_cfg_0004_038522062288#380", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder to the socket', and now you are performing subtask 'insert the bulb holder into the socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002626/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.34166193688669205, -0.9398229199603689 ], [ -0.8476951337999824, 0.5304837039267369 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.32044752659775544, 0.9472662681091208 ] ] }, { "task_id": "0002627", "id": "RH20T_cfg4_task_0205_user_0014_scene_0002_cfg_0004_104122062823#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002627/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28883126118045693, -0.957380019931953 ], [ -0.9747946180823196, -0.2231041294054074 ], [ 0.9296815004491433, 0.36836436810249074 ], [ -0.41758696040940385, 0.9086369629813852 ] ] }, { "task_id": "0002628", "id": "RH20T_cfg4_task_0102_user_0015_scene_0001_cfg_0004_038522062288#235", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002628/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5179822298744714, 0.8553913779868665 ], [ -0.8035571933208309, 0.5952275506080229 ], [ 0.7677880500467222, -0.6407039177384917 ], [ -0.5731839507961992, -0.8194267255524806 ] ] }, { "task_id": "0002629", "id": "RH20T_cfg6_task_0042_user_0014_scene_0001_cfg_0006_104122064161#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid from the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002629/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9661581924460239, -0.2579502804213089 ], [ 0.22903933371243254, 0.9734171682778383 ], [ -0.15111360732858517, -0.9885164023323751 ], [ -0.9897506216807459, 0.1428065365540982 ] ] }, { "task_id": "0002630", "id": "RH20T_cfg4_task_0124_user_0010_scene_0008_cfg_0004_104122062823#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the lever', and now you are performing subtask 'press the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002630/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999998 ], [ -0.9988928242646846, -0.047043869234172815 ], [ 0.06507081894417088, 0.9978806484354403 ], [ 0.988078532938228, 0.1539506828391457 ] ] }, { "task_id": "0002631", "id": "RH20T_cfg5_task_0032_user_0010_scene_0002_cfg_0005_037522062165#206", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002631/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, -0.9863939236699816 ], [ -0.9977844635674651, -0.06652942404219354 ], [ -0.31244488973723883, 0.949935887771951 ], [ 0.9884121498107609, 0.15179401209029997 ] ] }, { "task_id": "0002632", "id": "RH20T_cfg4_task_0089_user_0007_scene_0002_cfg_0004_104122062823#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the left side of the table', and now you are performing subtask 'push the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002632/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5355420253473013, 0.8445085784322828 ], [ 0.8827675188818261, -0.46981007610227427 ], [ -0.4902293830015728, -0.8715934557130964 ], [ -0.8833826795101795, 0.46865236747659295 ] ] }, { "task_id": "0002633", "id": "RH20T_cfg4_task_0091_user_0015_scene_0002_cfg_0004_104122062823#106", "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 cube from the blue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002633/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.16439898727833027, 0.9863939236699816 ], [ 0.9552215789089294, 0.29589142465899865 ], [ 0.028895160375826016, -0.999582447678457 ], [ -0.9854131612416525, -0.1701790282371279 ] ] }, { "task_id": "0002634", "id": "RH20T_cfg3_task_0048_user_0010_scene_0007_cfg_0003_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002634/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9761870600780704, -0.21693045779512676 ], [ -0.34913563783942864, -0.9370721991343333 ], [ -0.9646047914489514, 0.26369982236195216 ], [ 0.12210123321247959, 0.9925176516556226 ] ] }, { "task_id": "0002635", "id": "RH20T_cfg4_task_0101_user_0007_scene_0004_cfg_0004_038522062288#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002635/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2707479643899487, -0.9626502686742985 ], [ 0.9647638211531168, 0.26311740576903186 ], [ -0.9388023734813606, -0.34445624329624797 ], [ -0.40585471570021464, 0.9139376071395126 ] ] }, { "task_id": "0002636", "id": "RH20T_cfg5_task_0119_user_0010_scene_0002_cfg_0005_037522062165#189", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the water tap clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002636/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.8902781097106077, 0.45541726731658644 ], [ 0.3921135702083608, -0.9199168158363303 ], [ -0.9225895348500417, -0.38578303511842493 ] ] }, { "task_id": "0002637", "id": "RH20T_cfg7_task_0062_user_0014_scene_0009_cfg_0007_104122064161#62", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002637/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3786328457045749, 0.9255469561667387 ], [ 0.9720829948845031, -0.234637275504927 ], [ -0.37830724161831036, -0.925680091035313 ], [ -0.9718289632098838, 0.235687221262423 ] ] }, { "task_id": "0002638", "id": "RH20T_cfg1_task_0073_user_0015_scene_0010_cfg_0001_750612070853#70", "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 object from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002638/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9639950445704764, -0.26592020239832354 ], [ 0.1842885350388646, 0.9828721868739445 ], [ -0.13688938988153465, -0.9905863389618601 ], [ -0.9988632241485881, 0.04766822257529114 ] ] }, { "task_id": "0002639", "id": "RH20T_cfg1_task_0073_user_0015_scene_0010_cfg_0001_750612070853#204", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'transfer the object from the desktop to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002639/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, -0.7071067806865474 ], [ -0.6533277719607851, -0.7570751761778723 ], [ -0.7834362267090971, 0.621472186569771 ], [ 0.7834480939453565, 0.6214572262781951 ] ] }, { "task_id": "0002640", "id": "RH20T_cfg7_task_0013_user_0014_scene_0002_cfg_0007_104122064161#98", "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 beside the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002640/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8897751509452775, -0.4563991463185584 ], [ -0.3440654809433756, -0.9389456559477783 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.8622366488326969, 0.5065056380828951 ] ] }, { "task_id": "0002641", "id": "RH20T_cfg7_task_0017_user_0020_scene_0003_cfg_0007_104122064161#152", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002641/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999010618956424, -0.014066499918837853 ], [ 0.0, 0.9999999999166667 ], [ -0.10457293545862788, -0.9945172201473265 ], [ -0.9984575313860996, 0.055520789064781584 ] ] }, { "task_id": "0002642", "id": "RH20T_cfg5_task_0123_user_0007_scene_0001_cfg_0005_037522062165#171", "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 from the chopping 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002642/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.869379001012551, -0.49414588189968667 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.3084651567557604, -0.9512356422399469 ], [ -0.8744247879534888, 0.4851610971754602 ] ] }, { "task_id": "0002643", "id": "RH20T_cfg2_task_0002_user_0006_scene_0001_cfg_0002_037522062165#172", "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 tissue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002643/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.957100453079006, -0.28975631609330194 ], [ -0.12955630583661323, -0.991572066779803 ], [ -0.9216732656194457, 0.38796699787789507 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0002644", "id": "RH20T_cfg3_task_0085_user_0010_scene_0009_cfg_0003_104122062823#171", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002644/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5768612017152368, 0.8168421842410277 ], [ 0.8140271311757683, -0.5808268500248147 ], [ -0.5896340662152104, -0.8076705194313563 ], [ -0.7432941461919177, 0.668964731572726 ] ] }, { "task_id": "0002645", "id": "RH20T_cfg4_task_0063_user_0015_scene_0005_cfg_0004_104122062823#125", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002645/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196148306, 0.8320502942224591 ], [ 0.8859344468001787, -0.46381047419486043 ], [ -0.4663718312515182, -0.8845887830032131 ], [ -0.8012373883333755, 0.5983465948233613 ] ] }, { "task_id": "0002646", "id": "RH20T_cfg6_task_0005_user_0014_scene_0003_cfg_0006_104122064161#62", "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 position slightly to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002646/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6246950474568633, 0.7808688093210792 ], [ 0.748200873369049, -0.663472270023241 ], [ -0.5194968960741841, -0.8544723371586048 ], [ -0.8093581859139615, 0.5873153555748917 ] ] }, { "task_id": "0002647", "id": "RH20T_cfg3_task_0010_user_0010_scene_0003_cfg_0003_104122062823#88", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002647/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983045455314222, -0.05820682409563771 ], [ -0.025277700065892732, -0.9996804678893045 ], [ -0.9956957551833124, 0.09268205387200451 ], [ 0.0, 0.9999999999677419 ] ] }, { "task_id": "0002648", "id": "RH20T_cfg6_task_0064_user_0007_scene_0010_cfg_0006_104122063633#157", "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 down the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002648/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.875394957041302, -0.48340838758409765 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.4841959891036924, -0.8749595671434749 ], [ -0.8491844838969959, 0.5280963096903755 ] ] }, { "task_id": "0002649", "id": "RH20T_cfg2_task_0072_user_0007_scene_0010_cfg_0002_105422061350#264", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the surface 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002649/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8592536787635788, 0.5115497195104858 ], [ 0.3204405501594524, -0.9472686281163899 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9141911246743133, -0.4052833423257293 ] ] }, { "task_id": "0002650", "id": "RH20T_cfg4_task_0101_user_0007_scene_0014_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'wipe the stain on the table with a cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002650/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6843458091125831, -0.7291576054256337 ], [ -0.6344413367320529, -0.7729710151394072 ], [ -0.6188270704001558, 0.7855272477387151 ], [ 0.6853646989756331, 0.7281999926616102 ] ] }, { "task_id": "0002651", "id": "RH20T_cfg4_task_0020_user_0016_scene_0010_cfg_0004_104122062823#127", "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 desk lamp's button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002651/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.35897907928309586, 0.9333456061360492 ], [ 0.9402466353525094, -0.34049414783265414 ], [ -0.4896195966681256, -0.8719361505056102 ], [ -0.8709720445089973, 0.4913325733999499 ] ] }, { "task_id": "0002652", "id": "RH20T_cfg7_task_0005_user_0020_scene_0008_cfg_0007_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the adjacent position', and now you are performing subtask 'push the small block to the side 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002652/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7001797730992674, -0.7139665855925322 ], [ -0.7256347996481194, -0.6880800371611093 ], [ -0.7398218916483715, 0.672802770979598 ] ] }, { "task_id": "0002653", "id": "RH20T_cfg4_task_0092_user_0007_scene_0006_cfg_0004_104122062823#99", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002653/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9932755612948232, -0.11577417386642853 ], [ -0.10251709201850448, -0.9947312430219881 ], [ -0.9952577800644499, -0.09727256150211665 ], [ 0.0, 0.9999999999666667 ] ] }, { "task_id": "0002654", "id": "RH20T_cfg6_task_0025_user_0014_scene_0005_cfg_0006_104122064161#33", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (with one end being pressed down by a heavy object)', and now you are performing subtask 'pick up the paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002654/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4962061058850946, 0.8682047572331946 ], [ 0.9346995679978811, -0.3554387677006751 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.4262445962815323, -0.9046079505182306 ] ] }, { "task_id": "0002655", "id": "RH20T_cfg7_task_0061_user_0014_scene_0001_cfg_0007_104122064161#183", "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 block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002655/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562501672515, 0.9701425000669006 ], [ 0.9958212238469575, -0.09132409395087239 ], [ -0.17947643902332916, -0.9837622720126572 ], [ -0.9708383024849042, 0.23973525070007884 ] ] }, { "task_id": "0002656", "id": "RH20T_cfg7_task_0025_user_0014_scene_0007_cfg_0007_104122064161#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfolding the folded paper', and now you are performing subtask 'unfold the paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002656/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9930970451110757, 0.11729560516767068 ], [ -0.06762733537758205, -0.9977106511958906 ], [ -0.9996732408607271, -0.025561915167117644 ] ] }, { "task_id": "0002657", "id": "RH20T_cfg3_task_0028_user_0010_scene_0001_cfg_0003_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer until it closes'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002657/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9618713007860835, 0.273502469319909 ], [ 0.2686318228248284, -0.9632429308153837 ], [ -0.9674494813263604, -0.2530642232346489 ], [ -0.1961161350997225, 0.9805806754986125 ] ] }, { "task_id": "0002658", "id": "RH20T_cfg4_task_0083_user_0007_scene_0005_cfg_0004_104122062823#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the flyswatter to the specified position', 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002658/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38387205216111553, 0.9233862937956215 ], [ 0.9714595586217566, -0.23720524016644734 ], [ -0.22398948999966237, -0.9745915597673167 ], [ -0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0002661", "id": "RH20T_cfg4_task_0007_user_0010_scene_0002_cfg_0004_104122062823#135", "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 piece 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002661/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8682222643971013, 0.49617547259530076 ], [ -0.44721359543329126, 0.8944271908665825 ], [ 0.5735544910237107, -0.8191674101345415 ], [ -0.933318903136098, -0.35904849957746776 ] ] }, { "task_id": "0002662", "id": "RH20T_cfg5_task_0032_user_0010_scene_0007_cfg_0005_104122063678#205", "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 packaging to the top of the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002662/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.754623364654046, -0.6561581954972495 ], [ -0.65979268559913, -0.7514476775064833 ], [ -0.7691251293399557, 0.6390982204777262 ] ] }, { "task_id": "0002663", "id": "RH20T_cfg1_task_0021_user_0001_scene_0001_cfg_0001_039422060546#163", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002663/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9924212529070585, -0.12288228830219636 ], [ -0.11523131523655328, -0.993338685438584 ], [ -0.9952307409323664, -0.09754882010159273 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002664", "id": "RH20T_cfg5_task_0044_user_0010_scene_0006_cfg_0005_104122063678#318", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things and throw it on the table', and now you are performing subtask 'pick up the bag 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002664/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7362080094416571, 0.6767553227230304 ], [ 0.476579236963173, -0.8791315208179035 ], [ -0.554700196071383, 0.8320502941070744 ], [ -0.8401587735867252, -0.5423405158802447 ] ] }, { "task_id": "0002665", "id": "RH20T_cfg2_task_0073_user_0007_scene_0002_cfg_0002_105422061350#227", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block in the drawer', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002665/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7822772579446651, 0.6229304067892143 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7060462973576443, -0.7081656769341204 ], [ -0.796051945822336, -0.6052283036610835 ] ] }, { "task_id": "0002666", "id": "RH20T_cfg4_task_0014_user_0016_scene_0005_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale and place it on the table', and now you are performing subtask 'pick up the block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002666/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7763293360591702, -0.6303275037422434 ], [ 0.5547001961867676, 0.8320502942801514 ], [ -0.4544826293210255, -0.8907556004008323 ], [ -0.8042455884587162, 0.5942970919032781 ] ] }, { "task_id": "0002667", "id": "RH20T_cfg4_task_0084_user_0007_scene_0010_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002667/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8532818336317343, 0.5214500094416155 ], [ 0.408684156734689, -0.9126758789592592 ], [ -0.9240151779559023, -0.38235579099462097 ], [ -0.49003996558123375, 0.8716999668080431 ] ] }, { "task_id": "0002668", "id": "RH20T_cfg2_task_0016_user_0006_scene_0007_cfg_0002_037522062165#514", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'after picking up the cue and striking the pool ball, place the cue on the pool table', and now you are performing subtask 'pick up the cue on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002668/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.5916123100094958, 0.806222596213495 ], [ 0.7697235659889361, -0.6383773429260128 ], [ -0.6014970668952198, -0.798875008068501 ] ] }, { "task_id": "0002669", "id": "RH20T_cfg6_task_0035_user_0014_scene_0001_cfg_0006_104122064161#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block on the far right from the desk', and now you are performing subtask 'pick up the square on the far right of the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002669/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6051214002142365, 0.7961332118450792 ], [ 0.6275081178693732, -0.7786100192060444 ], [ -0.7782494154832945, -0.6279552908447469 ] ] }, { "task_id": "0002670", "id": "RH20T_cfg4_task_0074_user_0007_scene_0005_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the right side of the table', and now you are performing subtask 'press the button on the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002670/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996237778047456, -0.08666192699835418 ], [ -0.11029658578951912, -0.9938987187652348 ], [ -0.9846385999915199, 0.17460477486809925 ], [ 0.1520571842423804, 0.9883716975754727 ] ] }, { "task_id": "0002671", "id": "RH20T_cfg1_task_0118_user_0014_scene_0005_cfg_0001_819112071037#49", "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 tap to turn on the water'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002671/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.661037213807658, -0.7503531181793067 ], [ 0.7071067806865474, -0.7071067806865474 ], [ -0.8086362987272452, 0.5883088783799727 ], [ 0.7362309207626365, 0.6767303978047687 ] ] }, { "task_id": "0002672", "id": "RH20T_cfg1_task_0012_user_0012_scene_0002_cfg_0001_750612070853#40", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002672/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.771127514885461, 0.6366807330103316 ], [ -0.7071067811032142, -0.7071067811032142 ], [ 0.6782908230322144, 0.7347935488218995 ], [ 0.606650428048755, -0.7949687152009584 ] ] }, { "task_id": "0002673", "id": "RH20T_cfg4_task_0084_user_0007_scene_0003_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002673/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.48337636779757515, -0.8754126381626115 ], [ -0.8275564259700411, 0.5613825450044665 ], [ 0.79999999984, -0.59999999988 ], [ 0.654801335989163, 0.7558010388897379 ] ] }, { "task_id": "0002674", "id": "RH20T_cfg3_task_0014_user_0010_scene_0005_cfg_0003_038522062288#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002674/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9263401933441031, 0.37668799582042656 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.37954702001497787, -0.9251724485725622 ], [ -0.9597112793972927, -0.2809880072131403 ] ] }, { "task_id": "0002675", "id": "RH20T_cfg2_task_0014_user_0003_scene_0010_cfg_0002_037522062165#189", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002675/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14527346801164986, -0.9893915400345145 ], [ 0.99999999975, 0.0 ], [ -0.9985454102282761, -0.05391719310242157 ], [ -0.15557314367541927, 0.9878243755683231 ] ] }, { "task_id": "0002676", "id": "RH20T_cfg6_task_0047_user_0014_scene_0001_cfg_0006_104122064161#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002676/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8952006984111955, -0.4456632243792477 ], [ -0.26799369470850715, -0.9634206659587926 ], [ 0.4061384660328291, 0.9138115485738655 ], [ -0.9230787706925084, 0.3846109503079799 ] ] }, { "task_id": "0002677", "id": "RH20T_cfg1_task_0012_user_0012_scene_0008_cfg_0001_750612070853#147", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002677/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9486832979505138, 0.3162277659835046 ], [ 0.44224914443356866, -0.896892242272045 ], [ -0.9846843898895735, -0.17434635731152645 ], [ -0.253863591300508, 0.9672400307121334 ] ] }, { "task_id": "0002678", "id": "RH20T_cfg4_task_0046_user_0014_scene_0020_cfg_0004_104122062823#142", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002678/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12699199810959763, -0.9919037415072756 ], [ 0.9999999999473684, 0.0 ], [ -0.9994864841765205, -0.032043220007642405 ], [ -0.07891934768565001, 0.9968810042130763 ] ] }, { "task_id": "0002679", "id": "RH20T_cfg1_task_0015_user_0001_scene_0008_cfg_0001_750612070853#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002679/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970553378360877, -0.07668541773091621 ], [ 0.1251566317021813, -0.9921369953494147 ], [ 0.0, 0.99999999975 ], [ -0.9985779133430425, 0.05331182780073516 ] ] }, { "task_id": "0002680", "id": "RH20T_cfg3_task_0054_user_0010_scene_0007_cfg_0003_104122062823#53", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'catch the ball and then throw it into the shovel', and now you are performing subtask 'pick up the ball on the shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002680/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9902862500932099, 0.13904367255049238 ], [ -0.14057872336744326, -0.9900695038917116 ], [ 0.0, 0.9999999998333333 ], [ -0.9917588670438305, 0.1281184984299207 ] ] }, { "task_id": "0002681", "id": "RH20T_cfg6_task_0014_user_0014_scene_0003_cfg_0006_104122064161#27", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the object from the scale and place it on the table', and now you are performing subtask 'pick up the object from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002681/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8774179629342994, 0.4797267121187067 ], [ -0.3387194682599938, 0.940887411833316 ], [ 0.36058166995795743, -0.932727644755065 ], [ -0.9664562847828528, -0.25683116945519935 ] ] }, { "task_id": "0002682", "id": "RH20T_cfg6_task_0032_user_0014_scene_0007_cfg_0006_104122064161#95", "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 lid from the right side of the workspace'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002682/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9671709899034446, 0.25412649662951525 ], [ 0.29250577251029924, 0.9562637570504035 ], [ 0.941163780254431, -0.3379507933667105 ], [ -0.3417430630575073, -0.939793423408145 ] ] }, { "task_id": "0002683", "id": "RH20T_cfg4_task_0126_user_0010_scene_0001_cfg_0004_104122062823#154", "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 cord 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002683/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832979005138, 0.31622776596683794 ], [ 0.16627020880841875, 0.9860802288165019 ], [ 0.910258028652498, -0.41404144873873217 ], [ -0.43419982904420545, -0.9008165786984512 ] ] }, { "task_id": "0002684", "id": "RH20T_cfg2_task_0052_user_0016_scene_0004_cfg_0002_037522062165#189", "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 green 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002684/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08595673915123668, 0.9962988703167771 ], [ -0.9999999998333333, 0.0 ], [ 0.9957139641882319, 0.09248622340952543 ], [ -0.12470367710420022, -0.9921940298735381 ] ] }, { "task_id": "0002685", "id": "RH20T_cfg4_task_0105_user_0015_scene_0002_cfg_0004_038522062288#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002685/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.47527252638082196, 0.8798386361530113 ], [ 0.8590033038928009, 0.5119700419958697 ], [ -0.9230769230059171, -0.3846153845857988 ], [ 0.34936739092422564, -0.9369858196145764 ] ] }, { "task_id": "0002686", "id": "RH20T_cfg5_task_0014_user_0007_scene_0009_cfg_0005_104122063678#185", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002686/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9826458342984775, 0.1854916826594908 ], [ 0.18642113349107053, -0.982469928795739 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9270944178183728, -0.374827881100129 ] ] }, { "task_id": "0002687", "id": "RH20T_cfg2_task_0032_user_0003_scene_0003_cfg_0002_105422061350#230", "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 lid of the gift box to the top of 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002687/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9878627278786024, -0.15532942692305995 ], [ 0.13893756402321364, -0.9903011427355294 ], [ 0.0, 0.9999999989999999 ], [ -0.998480119336603, -0.05511307730079301 ] ] }, { "task_id": "0002688", "id": "RH20T_cfg3_task_0018_user_0011_scene_0010_cfg_0003_038522062288#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull the blocks 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002688/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6789799510274389, 0.7341568130193826 ], [ 0.6964575664745117, -0.7175979780492704 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6078021005845147, -0.7940885382153879 ] ] }, { "task_id": "0002689", "id": "RH20T_cfg6_task_0008_user_0014_scene_0010_cfg_0006_104122064161#67", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block on top of the black circle', and now you are performing subtask 'pick up the block on the black circle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002689/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9138115485274737, 0.40613846601221054 ], [ 0.4490562419001211, 0.8935034927802689 ], [ 0.8829464498915973, -0.46947371238848423 ], [ -0.3296324191462668, -0.9441093518484922 ] ] }, { "task_id": "0002690", "id": "RH20T_cfg5_task_0062_user_0007_scene_0006_cfg_0005_036422060215#170", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002690/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6556280178128034, -0.7550840365541138 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7003562468464956, -0.7137934767865918 ], [ -0.6374688451860119, 0.770476132931587 ] ] }, { "task_id": "0002691", "id": "RH20T_cfg2_task_0001_user_0006_scene_0003_cfg_0002_105422061350#283", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002691/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7399627434892984, -0.6726478560493528 ], [ -0.8322561127556429, 0.5543913444317711 ], [ 0.7525766946832789, -0.6585046078478691 ], [ 0.765085679029158, 0.6439284927260884 ] ] }, { "task_id": "0002692", "id": "RH20T_cfg2_task_0085_user_0014_scene_0007_cfg_0002_105422061350#14", "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 assembled bubble ring and the bubble ring on the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002692/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7783957223093766, -0.6277739238694643 ], [ -0.6766588878610652, -0.7362966450274145 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.8945980703517833, 0.446871673439776 ] ] }, { "task_id": "0002693", "id": "RH20T_cfg1_task_0004_user_0012_scene_0002_cfg_0001_750612070853#141", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002693/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9986093933911823, 0.052718871676992206 ], [ -0.09941279349754661, 0.9950462785664868 ], [ 0.9967903702778595, -0.08005596618196284 ] ] }, { "task_id": "0002694", "id": "RH20T_cfg7_task_0002_user_0020_scene_0006_cfg_0007_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull the napkin to the outside of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002694/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502941070744, 0.554700196071383 ], [ 0.4818102465499077, -0.876275576699201 ], [ -0.7556344136129113, -0.6549936129183794 ], [ -0.48028777950032814, 0.8771109672456754 ] ] }, { "task_id": "0002695", "id": "RH20T_cfg4_task_0126_user_0007_scene_0006_cfg_0004_038522062288#178", "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 cord 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002695/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9956433568161431, 0.09324326264069846 ], [ 0.10412869972443825, -0.9945638309800422 ], [ -0.9998899821246917, -0.014833194082323626 ] ] }, { "task_id": "0002696", "id": "RH20T_cfg2_task_0002_user_0007_scene_0009_cfg_0002_105422061350#224", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull the tissue out of the container'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002696/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7499009985056909, -0.6615500679768446 ], [ -0.7560965808586582, -0.6544600525729944 ], [ -0.5961916489357798, 0.8028421499518046 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002697", "id": "RH20T_cfg2_task_0100_user_0007_scene_0009_cfg_0002_036422060215#256", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'pick up the glass rod above the beaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002697/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12075620597572002, -0.9926821942184465 ], [ -0.9925512234523908, 0.12182802971058115 ], [ 0.9999999989999999, 0.0 ], [ 0.1252462266507989, 0.9921256889677521 ] ] }, { "task_id": "0002698", "id": "RH20T_cfg6_task_0080_user_0020_scene_0002_cfg_0006_104122064161#132", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002698/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9948670726953774, -0.10119045244750385 ], [ 0.0005766778962886792, -0.9999998337212881 ], [ -0.9999412702310582, 0.010837716027747732 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0002699", "id": "RH20T_cfg4_task_0008_user_0010_scene_0001_cfg_0004_104122062823#88", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002699/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7007456764765505, -0.713411169592558 ], [ -0.7978834450640988, -0.6028117517871108 ], [ -0.7362627476823069, 0.6766957709157785 ], [ 0.7071067811032142, 0.7071067811032142 ] ] }, { "task_id": "0002700", "id": "RH20T_cfg2_task_0103_user_0007_scene_0008_cfg_0002_037522062165#128", "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 'press the plate on the desktop to secure it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002700/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999114553344575, 0.04207266684048607 ], [ 0.0, 0.9999999989999999 ], [ -0.14817958928186412, -0.9889604690382008 ], [ -0.9998491731018991, 0.017367528535995595 ] ] }, { "task_id": "0002701", "id": "RH20T_cfg2_task_0022_user_0007_scene_0004_cfg_0002_037522062165#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the red flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002701/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810615475, 0.7071067810615475 ], [ 0.7850253560561152, 0.6194636311753657 ], [ 0.5897745283244037, -0.8075679573507899 ], [ -0.6066670472754278, -0.794956032589296 ] ] }, { "task_id": "0002702", "id": "RH20T_cfg1_task_0060_user_0015_scene_0009_cfg_0001_750612070853#83", "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 'turn the button 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002702/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.37437251858789794, -0.9272783925694345 ], [ 0.8944271908665825, 0.44721359543329126 ], [ -0.8681316740119664, -0.4963339567037307 ], [ -0.5284462084097762, 0.8489667866396963 ] ] }, { "task_id": "0002704", "id": "RH20T_cfg4_task_0200_user_0017_scene_0010_cfg_0004_038522062288#309", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette tip 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002704/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6622541422855904, -0.7492792877329367 ], [ 0.8137334711121403, -0.5812381936515288 ], [ -0.7337769030237759, 0.6793905037523238 ], [ 0.5437517460903222, 0.8392461132610183 ] ] }, { "task_id": "0002705", "id": "RH20T_cfg4_task_0067_user_0007_scene_0005_cfg_0004_104122062823#117", "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 red button on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002705/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6630899490626521, -0.7485397246987561 ], [ 0.6357072528322338, 0.7719302355819981 ], [ -0.6659366192378325, -0.7460083237860594 ], [ -0.801273498771199, 0.5982982368074984 ] ] }, { "task_id": "0002706", "id": "RH20T_cfg4_task_0062_user_0016_scene_0005_cfg_0004_104122062823#117", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002706/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9998344558892333, -0.01819507671544475 ], [ 0.0, -0.999999999875 ], [ 0.14403634957149092, 0.9895723975546808 ], [ 0.9989348026177294, 0.04614390662999847 ] ] }, { "task_id": "0002707", "id": "RH20T_cfg2_task_0109_user_0007_scene_0002_cfg_0002_037522062165#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002707/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.19953921380490833, 0.9798898418465819 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9512146021888366, -0.308530031897599 ], [ -0.41433962659228696, -0.9101223400375161 ] ] }, { "task_id": "0002708", "id": "RH20T_cfg4_task_0091_user_0007_scene_0004_cfg_0004_038522062288#63", "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 orange button box from the blue and white 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002708/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2453485838098176, 0.9694349242845117 ], [ 0.9541709175927766, 0.29926219276774446 ], [ -0.9271100656858663, -0.37478917549003105 ], [ 0.5125178406048928, -0.858676576518597 ] ] }, { "task_id": "0002711", "id": "RH20T_cfg5_task_0056_user_0010_scene_0001_cfg_0005_037522062165#200", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'receive something handed over by a human', and now you are performing subtask 'pick up the toy in the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002711/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6174175085437648, 0.7866356336599621 ], [ -0.8050558373192567, -0.5931990380247154 ], [ 0.8274454094910685, 0.5615461640080519 ], [ 0.5698997642605008, -0.8217142196018186 ] ] }, { "task_id": "0002712", "id": "RH20T_cfg7_task_0001_user_0014_scene_0003_cfg_0007_104122064161#71", "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 wooden table from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002712/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3303016926639859, -0.9438754111763404 ], [ -0.9308686286453697, -0.3653540696418868 ], [ -0.5371305493183782, 0.8434991244743159 ], [ 0.894427190942773, 0.4472135954713865 ] ] }, { "task_id": "0002713", "id": "RH20T_cfg4_task_0201_user_0017_scene_0005_cfg_0004_038522062288#203", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up a medium pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002713/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.02534981022556082, 0.9996786419252579 ], [ 0.9986434924078713, 0.05206894536487286 ], [ -0.09598707382856508, -0.9953825805477157 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002714", "id": "RH20T_cfg2_task_0201_user_0007_scene_0005_cfg_0002_037522062165#213", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette beside the stand for medium pipettes'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002714/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04176808655000467, -0.9991273326988664 ], [ -0.9949946441547881, 0.09992826478672982 ], [ 0.9999999989999999, 0.0 ], [ -0.11708628573241253, 0.9931217456552786 ] ] }, { "task_id": "0002715", "id": "RH20T_cfg1_task_0092_user_0015_scene_0002_cfg_0001_750612070853#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the hands of a clock rotating clockwise', and now you are performing subtask 'turn the hands of a clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002715/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.746694652880724, -0.6651669680308359 ], [ -0.7035201136931988, 0.7106753475597059 ], [ 0.7323646297119061, 0.6809126589709893 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0002717", "id": "RH20T_cfg7_task_0005_user_0014_scene_0003_cfg_0007_104122064161#76", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002717/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7577886156873804, -0.6525001256203738 ], [ -0.6463837186436489, -0.7630125085949825 ], [ -0.7276423244585576, 0.6859567389103683 ], [ 0.618872226588782, 0.7854916722088388 ] ] }, { "task_id": "0002719", "id": "RH20T_cfg1_task_0020_user_0014_scene_0004_cfg_0001_750612070853#125", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002719/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1738017055386416, -0.9847806695665077 ], [ -0.9764632184198666, -0.21568398891228796 ], [ 0.9922778766521293, 0.12403473458151616 ], [ -0.24218228991036397, 0.9702307655675388 ] ] }, { "task_id": "0002721", "id": "RH20T_cfg5_task_0047_user_0010_scene_0008_cfg_0005_037522062165#184", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002721/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7313854708020181, 0.6819642901939297 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6312744588548579, -0.7755595126084821 ], [ -0.6867585886352385, -0.7268855762331066 ] ] }, { "task_id": "0002722", "id": "RH20T_cfg4_task_0014_user_0010_scene_0001_cfg_0004_104122062823#99", "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 cube on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002722/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9227006422249403, 0.3855172173038227 ], [ -0.3939192985274435, 0.9191450298973682 ], [ 0.46171175036670065, -0.8870300217993288 ], [ -0.9195909757533492, -0.3928771275004477 ] ] }, { "task_id": "0002723", "id": "RH20T_cfg5_task_0047_user_0010_scene_0004_cfg_0005_104122063678#448", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002723/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.47835070716026973, -0.8781688909083889 ], [ -0.8744598608457528, -0.48509787854579073 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.48973302111248435, 0.8718724494053238 ] ] }, { "task_id": "0002724", "id": "RH20T_cfg2_task_0001_user_0013_scene_0001_cfg_0002_037522062165#294", "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 table from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002724/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8215510884104381, 0.570134904326708 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5746054116550907, -0.8184305840428275 ], [ -0.8195214281842882, -0.573048539607933 ] ] }, { "task_id": "0002725", "id": "RH20T_cfg7_task_0001_user_0020_scene_0003_cfg_0007_104122064161#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the white base of the green key', and now you are performing subtask 'press the button on the white base with the green key'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002725/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4740998230029074, 0.8804710998625422 ], [ 0.9131270388602747, -0.4076751291190898 ], [ -0.5771259450422471, -0.8166551558394113 ], [ -0.8238591269880384, 0.5667946178983241 ] ] }, { "task_id": "0002726", "id": "RH20T_cfg4_task_0011_user_0010_scene_0009_cfg_0004_104122062823#98", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002726/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999235006550088, -0.012369027360017822 ], [ -0.22321231909742276, -0.9747698500687998 ], [ 0.1520571842423804, 0.9883716975754727 ], [ -0.9852233632557303, 0.17127441284403017 ] ] }, { "task_id": "0002727", "id": "RH20T_cfg4_task_0028_user_0016_scene_0007_cfg_0004_104122062823#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer handle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002727/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.15428063674922987, 0.9880270669998127 ], [ 0.9933178743599612, -0.11541057350610616 ], [ -0.9999999999375, 0.0 ], [ -0.031026902478180424, -0.99951854976414 ] ] }, { "task_id": "0002728", "id": "RH20T_cfg2_task_0079_user_0007_scene_0005_cfg_0002_037522062165#180", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002728/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3932432543655215, 0.9194344690602011 ], [ 0.978315072312339, 0.2071222327189982 ], [ 0.2048266508804966, -0.9787982647558582 ], [ -0.9486832979005138, -0.31622776596683794 ] ] }, { "task_id": "0002729", "id": "RH20T_cfg6_task_0209_user_0014_scene_0006_cfg_0006_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife on the knife 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002729/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5144957553392911, 0.8574929255654853 ], [ 0.7863176676404218, -0.617822406162586 ], [ -0.4823810690481575, -0.8759614741665052 ], [ -0.8420528245603003, 0.5393950691747378 ] ] }, { "task_id": "0002730", "id": "RH20T_cfg4_task_0092_user_0014_scene_0008_cfg_0004_104122062823#113", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002730/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.940276720706601, -0.3404110581300803 ], [ 0.4398674488020017, 0.8980627079707535 ], [ -0.3830852111107213, -0.9237130079349614 ], [ -0.8606235398108277, 0.50924171345588 ] ] }, { "task_id": "0002731", "id": "RH20T_cfg6_task_0092_user_0020_scene_0008_cfg_0006_104122064161#111", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002731/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9911419415205871, -0.13280682120584508 ], [ 0.0187713998428425, 0.9998238017510587 ], [ 0.9997797729429062, -0.020985843186082945 ] ] }, { "task_id": "0002732", "id": "RH20T_cfg4_task_0202_user_0010_scene_0002_cfg_0004_104122062823#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a small pipette into the holder for small pipette tips', and now you are performing subtask 'pick up the small pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002732/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9015258648509671, -0.4327252188221941 ], [ 0.31622776591683793, -0.9486832977505137 ], [ -0.30519709515469706, 0.9522892066537008 ], [ 0.8949546715382058, 0.4461570753579307 ] ] }, { "task_id": "0002733", "id": "RH20T_cfg2_task_0214_user_0007_scene_0006_cfg_0002_037522062165#215", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the pakchoi', and now you are performing subtask 'pick up the knife on the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002733/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988094531811613, -0.0487819252997402 ], [ -0.1095454121053543, -0.993981791929142 ], [ 0.0, 0.9999999998 ], [ -0.9951128517660174, 0.0987441757781407 ] ] }, { "task_id": "0002735", "id": "RH20T_cfg1_task_0013_user_0014_scene_0010_cfg_0001_750612070853#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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002735/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0958436608951652, 0.995396399765547 ], [ 0.9931914094255452, -0.11649388071181745 ], [ -0.0241576848208286, -0.9997081605469156 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0002736", "id": "RH20T_cfg4_task_0089_user_0015_scene_0002_cfg_0004_038522062288#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the smaller cardboard box to the right to avoid the larger 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002736/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06026481692057888, -0.9981824241297425 ], [ 0.9999999995, 0.0 ], [ -0.9965749386886982, -0.08269456800550769 ], [ 0.023037413983057052, 0.9997346035608518 ] ] }, { "task_id": "0002737", "id": "RH20T_cfg4_task_0089_user_0015_scene_0002_cfg_0004_038522062288#391", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the smaller cardboard box to the right to avoid the larger box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002737/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, -0.9615239475087477 ], [ -0.9884682905213432, -0.15142799818333927 ], [ -0.4098630028754924, 0.9121470927837704 ], [ 0.9803284975279283, 0.19737283737798061 ] ] }, { "task_id": "0002738", "id": "RH20T_cfg5_task_0009_user_0010_scene_0006_cfg_0005_037522062165#260", "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 a Hanoi block from the red base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002738/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995837499675312, 0.028850074538002445 ], [ -0.09696280973921913, -0.9952880053167907 ], [ -0.9903021471381552, -0.13893040478440838 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0002739", "id": "RH20T_cfg6_task_0091_user_0020_scene_0007_cfg_0006_104122064161#126", "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 from the gray 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002739/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38259636190140195, -0.9239155934715095 ], [ -0.9469367547423216, -0.32141994729338175 ], [ 0.9191450298973682, 0.3939192985274435 ], [ -0.2853033373413083, 0.9584372727006769 ] ] }, { "task_id": "0002741", "id": "RH20T_cfg2_task_0033_user_0003_scene_0010_cfg_0002_037522062165#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Grasp one block to sweep the other block onto the mark', and now you are performing subtask 'pick up the block on the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002741/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09950371901109793, 0.9950371901109792 ], [ 0.9794912603557762, 0.20148665188208645 ], [ 0.18207534335134332, -0.9832845820735168 ], [ -0.9998852619667342, -0.01514803293220664 ] ] }, { "task_id": "0002742", "id": "RH20T_cfg6_task_0025_user_0014_scene_0008_cfg_0006_104122064161#30", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded in half once with one end pressed down by a weight', and now you are performing subtask 'unfold the paper to a flat position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002742/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.01967502945653303, 0.9998064278728581 ], [ 0.9899771224251702, 0.14122781976218265 ], [ 0.058867779108140034, -0.9982657885467554 ], [ -0.9999999999375, 0.0 ] ] }, { "task_id": "0002743", "id": "RH20T_cfg6_task_0084_user_0007_scene_0007_cfg_0006_104122064161#214", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring from the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002743/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6631618478899806, 0.7484760273403193 ], [ 0.7037017946728558, -0.7104954497913425 ], [ -0.616619181415506, -0.7872615735004924 ], [ -0.7071067810865475, 0.7071067810865475 ] ] }, { "task_id": "0002744", "id": "RH20T_cfg4_task_0127_user_0010_scene_0007_cfg_0004_038522062288#208", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'pick up the power cord on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002744/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997252580689003, -0.023439462004715524 ], [ 0.0, 0.9999999989999999 ], [ -0.10827426639774271, -0.9941210606540989 ], [ -0.999831242565174, -0.018370802665653087 ] ] }, { "task_id": "0002745", "id": "RH20T_cfg6_task_0094_user_0020_scene_0008_cfg_0006_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid of the blue box 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002745/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9910016353890968, 0.13384976150944672 ], [ 0.0, 0.9999999989999999 ], [ 0.014798090671516665, -0.9998905022613614 ], [ -0.9947593275103669, -0.1022442190596734 ] ] }, { "task_id": "0002746", "id": "RH20T_cfg2_task_0010_user_0007_scene_0005_cfg_0002_037522062165#124", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002746/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8414267310368989, 0.5403712208256083 ], [ 0.5532641861941016, -0.8330058464830715 ], [ -0.7506152470940985, -0.6607395484075895 ], [ -0.59999999988, 0.79999999984 ] ] }, { "task_id": "0002747", "id": "RH20T_cfg7_task_0064_user_0014_scene_0003_cfg_0007_104122064161#106", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002747/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9564125818517709, -0.2920187892510166 ], [ -0.052796042141901145, -0.9986053163958976 ], [ -0.9991459080072952, 0.041321356612260746 ], [ 0.17888543818398317, 0.9838699100119074 ] ] }, { "task_id": "0002748", "id": "RH20T_cfg4_task_0078_user_0015_scene_0010_cfg_0004_104122062823#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'press the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002748/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9284766908277882, 0.3713906763311153 ], [ 0.42612375413787656, -0.9046648805825518 ], [ -0.8778999626071541, -0.4788440828227467 ], [ -0.2843590877931088, 0.9587178464957617 ] ] }, { "task_id": "0002749", "id": "RH20T_cfg7_task_0035_user_0014_scene_0008_cfg_0007_104122064161#98", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002749/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.29408584881590144, 0.9557790086516798 ], [ 0.925237181879747, -0.37938918970790914 ], [ -0.2447482427466979, -0.9695866633119515 ], [ -0.9566784816328272, 0.29114649711220675 ] ] }, { "task_id": "0002750", "id": "RH20T_cfg4_task_0094_user_0014_scene_0002_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the box above to open the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002750/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3114200208051471, -0.9502723665569371 ], [ -0.9630892258388707, 0.269182360256174 ], [ 0.29664998117942926, 0.9549862766900079 ], [ 0.9863939236699816, -0.16439898727833027 ] ] }, { "task_id": "0002751", "id": "RH20T_cfg6_task_0046_user_0014_scene_0004_cfg_0006_104122064161#301", "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 hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002751/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.970090496800528, -0.24274354371909654 ], [ -0.18402961764636463, -0.9829206986471152 ], [ -0.958280598147814, 0.2858291363970227 ], [ 0.18711210788124247, 0.982338566376523 ] ] }, { "task_id": "0002752", "id": "RH20T_cfg5_task_0012_user_0010_scene_0005_cfg_0005_104122063678#217", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002752/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.48821055921880774, -0.8727258732656314 ], [ -0.8686946892428571, -0.49534789479844965 ], [ -0.6469908879760667, 0.7624977317185546 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002753", "id": "RH20T_cfg6_task_0064_user_0007_scene_0001_cfg_0006_104122063633#159", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002753/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9894747386022611, -0.14470570710233613 ], [ 0.0, -0.9999999989999999 ], [ -0.1280323624629255, 0.991769990553335 ], [ 0.9998611393154855, 0.01666439578080632 ] ] }, { "task_id": "0002754", "id": "RH20T_cfg2_task_0012_user_0006_scene_0006_cfg_0002_037522062165#273", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002754/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8475368172907193, -0.5307366044816562 ], [ -0.5269416128771139, 0.8499014864197296 ], [ 0.9032639677589941, 0.42908531150376017 ], [ 0.4472135952999579, -0.8944271905999158 ] ] }, { "task_id": "0002755", "id": "RH20T_cfg3_task_0004_user_0016_scene_0004_cfg_0003_104122062823#231", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002755/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999381527227411, 0.01112163339765968 ], [ -0.060820314682136924, -0.9981487310626438 ], [ 0.1414213562173095, 0.9899494935211665 ], [ -0.9995017103686232, 0.031564710836577185 ] ] }, { "task_id": "0002756", "id": "RH20T_cfg6_task_0014_user_0014_scene_0006_cfg_0006_104122064161#43", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002756/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9952555737945813, -0.09729513261627694 ], [ -0.24942538679474868, -0.9683940191999794 ], [ 0.22903933371243254, 0.9734171682778383 ], [ -0.9389943814493115, 0.3439324811741762 ] ] }, { "task_id": "0002757", "id": "RH20T_cfg4_task_0067_user_0007_scene_0002_cfg_0004_104122062823#92", "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 red button on the obstacle from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002757/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6120714875682947, -0.7908024368361133 ], [ -0.885213631669809, -0.46518472277789563 ], [ 0.8516583166487499, 0.52409742563 ], [ -0.5557096055060613, 0.8313764696864459 ] ] }, { "task_id": "0002758", "id": "RH20T_cfg6_task_0045_user_0020_scene_0007_cfg_0006_104122064161#295", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002758/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8030339239736844, -0.5959333158562516 ], [ -0.7672728194778855, -0.641320840524036 ], [ -0.6148026944164867, 0.7886809538325547 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002759", "id": "RH20T_cfg6_task_0007_user_0014_scene_0002_cfg_0006_104122064161#79", "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 'pull the block up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002759/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7310869781426151, 0.6822842738846465 ], [ 0.7095548893762255, -0.704650167787032 ], [ -0.7742093134842433, -0.6329296476815229 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0002760", "id": "RH20T_cfg4_task_0105_user_0007_scene_0004_cfg_0004_038522062288#161", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002760/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9138115485274737, 0.40613846601221054 ], [ 0.3956077998073322, -0.9184195494062622 ], [ -0.8630806805557089, -0.5050660737482717 ], [ -0.26585798634977675, 0.9640122048470352 ] ] }, { "task_id": "0002762", "id": "RH20T_cfg1_task_0020_user_0004_scene_0008_cfg_0001_039422060546#302", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002762/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11931866808012442, -0.9928560094231113 ], [ -0.9981653774665603, 0.06054650466409587 ], [ -0.03990457183135301, 0.9992034953636604 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0002763", "id": "RH20T_cfg7_task_0037_user_0020_scene_0008_cfg_0007_104122064161#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack the blocks', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002763/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5965306575010101, -0.8025902906598189 ], [ -0.8995477142477802, -0.4368225152067989 ], [ 0.8320502943147668, 0.5547001962098446 ], [ -0.6533313159266425, 0.7570721178524287 ] ] }, { "task_id": "0002764", "id": "RH20T_cfg2_task_0059_user_0007_scene_0001_cfg_0002_037522062165#307", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002764/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09878510995841629, 0.9951087890529877 ], [ 0.9931249430033979, -0.11705916275327535 ], [ -0.9999999989999999, 0.0 ], [ 0.04403054111595246, -0.9990301854543918 ] ] }, { "task_id": "0002765", "id": "RH20T_cfg4_task_0053_user_0014_scene_0010_cfg_0004_038522062288#248", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002765/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562497750944, 0.9701424999100378 ], [ 0.9367796787076238, 0.3499197530298072 ], [ 0.17347087903036928, -0.9848389990899178 ], [ -0.9396589795311796, -0.3421125577736403 ] ] }, { "task_id": "0002766", "id": "RH20T_cfg1_task_0026_user_0001_scene_0006_cfg_0001_039422060546#275", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002766/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.03164900391947332, -0.9994990447973952 ], [ 0.99999999975, 0.0 ], [ -0.9985716887635631, -0.05342829212960049 ], [ 0.05633190455971989, 0.9984120975472376 ] ] }, { "task_id": "0002767", "id": "RH20T_cfg4_task_0105_user_0007_scene_0005_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the wooden 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002767/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05547001961944599, 0.9984603531500278 ], [ 0.9936146098260092, -0.11282733330318274 ], [ 0.0017679349922270827, -0.9999984372017104 ], [ -0.9992551181739732, 0.03859026824367804 ] ] }, { "task_id": "0002768", "id": "RH20T_cfg7_task_0002_user_0014_scene_0007_cfg_0007_104122064161#71", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002768/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8775214010710071, -0.47953747576427924 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.5098395505432024, -0.8602695116659114 ], [ -0.8622055755710047, 0.5065585311237708 ] ] }, { "task_id": "0002769", "id": "RH20T_cfg4_task_0088_user_0015_scene_0010_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cardboard box from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002769/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9754864765021573, -0.22005938780566997 ], [ -0.19801472659843414, -0.9801990451179533 ], [ -0.9795278569079839, 0.20130866236019804 ], [ 0.30700277991333336, 0.9517086177313333 ] ] }, { "task_id": "0002770", "id": "RH20T_cfg4_task_0217_user_0007_scene_0009_cfg_0004_104122062823#103", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002770/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14816911418148032, -0.9889620385043479 ], [ -0.9992843130851757, -0.03782673157819222 ], [ 0.9999999995, 0.0 ], [ -0.026826865001225057, 0.9996400948912594 ] ] }, { "task_id": "0002771", "id": "RH20T_cfg6_task_0054_user_0014_scene_0008_cfg_0006_104122063633#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping the moving object', and now you are performing subtask 'pick up the moving object from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002771/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999996666666 ], [ 0.9903308388345181, -0.13872573536773802 ], [ -0.12218450633267486, -0.9925074037065117 ], [ -0.9996801724012347, 0.0252893833028323 ] ] }, { "task_id": "0002772", "id": "RH20T_cfg6_task_0044_user_0020_scene_0005_cfg_0006_104122064161#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items from the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002772/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997466185850793, -0.022509967296736936 ], [ 0.0, 0.9999999989999999 ], [ -0.0904490687720316, -0.9959010824164578 ], [ -0.9968089319444118, -0.07982451500536024 ] ] }, { "task_id": "0002773", "id": "RH20T_cfg5_task_0024_user_0010_scene_0003_cfg_0005_104122063678#373", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the second button on the left', and now you are performing subtask 'press the second button on the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002773/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9884308700995835, 0.15167206411920553 ], [ 0.0969297334086804, -0.9952912271196417 ], [ 0.0, 0.9999999989999999 ], [ -0.9995240190324864, 0.03085020870506212 ] ] }, { "task_id": "0002774", "id": "RH20T_cfg2_task_0073_user_0007_scene_0003_cfg_0002_105422061350#240", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer and close the drawer', and now you are performing subtask 'pick up the block from the colorful 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002774/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8598473855780648, 0.5105511468154456 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.5204940694375286, -0.8538652842693402 ], [ -0.895050044703012, -0.4459657133425576 ] ] }, { "task_id": "0002775", "id": "RH20T_cfg4_task_0118_user_0007_scene_0006_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turning on the water tap', and now you are performing subtask 'push the lever to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002775/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.70368444965373, -0.7105126285404976 ], [ 0.7071067811151189, 0.7071067811151189 ], [ -0.5995028355941537, -0.8003726320374586 ], [ -0.6153766777400904, 0.7882331790108615 ] ] }, { "task_id": "0002776", "id": "RH20T_cfg2_task_0011_user_0013_scene_0010_cfg_0002_105422061350#135", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002776/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996576213862741, -0.08267919909508332 ], [ -0.05472829407526768, -0.9985012838387395 ], [ -0.9945799363466982, 0.10397475759335938 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0002777", "id": "RH20T_cfg1_task_0004_user_0015_scene_0006_cfg_0001_750612070853#121", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002777/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5276197187941278, -0.8494806839120037 ], [ -0.8363460197104449, 0.5482019110824917 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.3463700664720579, 0.9380979570663941 ] ] }, { "task_id": "0002778", "id": "RH20T_cfg2_task_0080_user_0014_scene_0003_cfg_0002_105422061350#-16", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002778/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.32428637652961667, 0.9459589557677922 ], [ 0.9681706502542216, 0.25029101459364833 ], [ -0.9701424999100378, -0.24253562497750944 ], [ 0.3751570524296197, -0.9269612645695178 ] ] }, { "task_id": "0002779", "id": "RH20T_cfg6_task_0088_user_0020_scene_0009_cfg_0006_104122064161#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the wooden block on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002779/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9959945800739455, -0.0894136257140105 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.23319464513492041, -0.9724300784531495 ], [ -0.9909452689756182, 0.134266428770708 ] ] }, { "task_id": "0002780", "id": "RH20T_cfg1_task_0006_user_0004_scene_0009_cfg_0001_039422060546#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the left on the desk', and now you are performing subtask 'push the block to the left on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002780/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.8877054528935595, 0.4604118036095951 ], [ 0.5419290391544641, -0.840424247937385 ], [ -0.8553129802553132, -0.5181116731041429 ] ] }, { "task_id": "0002781", "id": "RH20T_cfg3_task_0029_user_0010_scene_0010_cfg_0003_104122062823#466", "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 open 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002781/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5176738940322654, 0.8555780148165746 ], [ 0.7438585120838448, -0.6683371260078318 ], [ -0.79999999984, 0.59999999988 ], [ -0.5857756363489183, -0.8104732591887409 ] ] }, { "task_id": "0002782", "id": "RH20T_cfg6_task_0046_user_0020_scene_0008_cfg_0006_104122063633#362", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002782/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9322336590910767, -0.3618568844967057 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.32416717743264944, -0.945999810293506 ], [ -0.8940361226237472, 0.4479948788143633 ] ] }, { "task_id": "0002783", "id": "RH20T_cfg2_task_0013_user_0006_scene_0008_cfg_0002_037522062165#241", "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 toy goal from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002783/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12933902286626717, -0.9916004322124912 ], [ -0.989044053408438, 0.14762066392415035 ], [ 0.9999999989999999, 0.0 ], [ 0.09436942057185231, 0.9955372481534445 ] ] }, { "task_id": "0002784", "id": "RH20T_cfg6_task_0013_user_0014_scene_0004_cfg_0006_104122064161#74", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002784/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4387754843757395, 0.898596725072396 ], [ 0.957499867441653, 0.28843370789354167 ], [ -0.9486832977505137, -0.31622776591683793 ], [ 0.3165485179050186, -0.9485763204993767 ] ] }, { "task_id": "0002785", "id": "RH20T_cfg6_task_0019_user_0014_scene_0010_cfg_0006_104122064161#36", "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 stone from the left side 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002785/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1817472627889702, -0.9833452763239966 ], [ 0.9986178292800236, 0.052558833120001244 ], [ -0.9966044888135659, 0.08233767592452004 ], [ 0.003831388222884189, 0.9999926602052066 ] ] }, { "task_id": "0002786", "id": "RH20T_cfg7_task_0053_user_0020_scene_0004_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp from above the basket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002786/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9764599925062957, 0.2156985930288029 ], [ 0.14772572964339212, -0.9890283660246189 ], [ -0.08304547984684342, 0.996545758162121 ], [ -0.9929003521991945, -0.11894910929769723 ] ] }, { "task_id": "0002787", "id": "RH20T_cfg1_task_0020_user_0001_scene_0001_cfg_0001_039422060546#227", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002787/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9979120251736173, 0.06458784726161641 ], [ 0.011576880898838142, -0.9999329856688668 ], [ -0.9967175938445436, -0.08095701403055443 ] ] }, { "task_id": "0002788", "id": "RH20T_cfg7_task_0035_user_0020_scene_0009_cfg_0007_104122064161#102", "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 on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002788/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9388091292837702, -0.3444378300556564 ], [ -0.2766191464632625, -0.9609796292377567 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.9229469497386438, 0.38492717229124446 ] ] }, { "task_id": "0002789", "id": "RH20T_cfg2_task_0086_user_0014_scene_0001_cfg_0002_105422061350#-29", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dialing a number on an old rotary phone', and now you are performing subtask 'transfer the dialing tool from above the desk to the old rotary phone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002789/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31971588798619527, -0.9475134568802697 ], [ -0.8809089654259852, 0.47328574311098826 ], [ 0.5760933558108088, 0.8173839033102138 ], [ 0.8944271907999158, -0.4472135953999579 ] ] }, { "task_id": "0002790", "id": "RH20T_cfg2_task_0029_user_0003_scene_0001_cfg_0002_037522062165#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer', and now you are performing subtask 'pull the handle of the drawer to open 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002790/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955052817507308, -0.09470603996788159 ], [ 0.1375151037403102, -0.9904996699864629 ], [ 0.0, 0.9999999989999999 ], [ -0.997636301077163, -0.06871543329614099 ] ] }, { "task_id": "0002791", "id": "RH20T_cfg3_task_0088_user_0010_scene_0010_cfg_0003_104122062823#432", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'place the object on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002791/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07866632206269734, 0.9969010029953466 ], [ -0.9999999995, 0.0 ], [ 0.9999976967931591, 0.002146254499620078 ], [ 0.14575521590768584, -0.9893206846294603 ] ] }, { "task_id": "0002792", "id": "RH20T_cfg1_task_0082_user_0010_scene_0001_cfg_0001_819112070044#226", "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 white 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002792/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1560788947550044, -0.9877445917908416 ], [ -0.9979847080435266, -0.06345488563757067 ], [ 0.9999999989999999, 0.0 ], [ -0.07203922247324834, 0.9974017998908212 ] ] }, { "task_id": "0002793", "id": "RH20T_cfg6_task_0100_user_0014_scene_0001_cfg_0006_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a spoon', and now you are performing subtask 'stir the beaker with a spoon'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002793/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4788521306423567, 0.8778955728443206 ], [ 0.8759969765434371, -0.48231659424775847 ], [ -0.4662648915084336, -0.8846451553852701 ], [ -0.8768403421256288, 0.4807816702215366 ] ] }, { "task_id": "0002794", "id": "RH20T_cfg4_task_0004_user_0010_scene_0008_cfg_0004_104122062823#165", "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 right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002794/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9875768714346848, 0.15713663801698274 ], [ 0.18345191232539051, -0.9830286851685242 ], [ -0.9054452530989106, -0.424463065107731 ], [ -0.2911616157705853, 0.9566738803890661 ] ] }, { "task_id": "0002795", "id": "RH20T_cfg6_task_0210_user_0014_scene_0008_cfg_0006_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions with a kitchen knife', and now you are performing subtask 'pick up the kitchen knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002795/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9918026652733039, -0.12777900123561373 ], [ -0.003036926374875863, -0.9999953885284639 ], [ 0.0, 0.9999999989999999 ], [ -0.9989430869824478, -0.04596421401457454 ] ] }, { "task_id": "0002796", "id": "RH20T_cfg4_task_0094_user_0014_scene_0004_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002796/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09563093206525802, -0.9954168598292527 ], [ -0.990774656426696, -0.1355196671430476 ], [ 0.06002800564918828, 0.9981966933113839 ], [ 0.99999999975, 0.0 ] ] }, { "task_id": "0002797", "id": "RH20T_cfg4_task_0011_user_0016_scene_0003_cfg_0004_104122062823#87", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002797/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0844262648072486, 0.9964297294895895 ], [ 0.9958563767469103, -0.09093996312136877 ], [ -0.9999999999090909, 0.0 ], [ 0.048387971476523156, -0.9988286160380004 ] ] }, { "task_id": "0002798", "id": "RH20T_cfg7_task_0014_user_0014_scene_0005_cfg_0007_104122064161#58", "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 block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002798/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.504642405047521, -0.8633284676343377 ], [ -0.9222520035052669, -0.3865892420004999 ], [ -0.35834376296836434, 0.9335897104947509 ], [ 0.8804710998625422, 0.4740998230029074 ] ] }, { "task_id": "0002799", "id": "RH20T_cfg5_task_0048_user_0010_scene_0002_cfg_0005_104122063678#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002799/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5038710254878168, 0.8637789008362573 ], [ 0.867169719268311, -0.4980127287370461 ], [ -0.5015024876918167, -0.8651562025662876 ], [ -0.839694704533852, 0.5430587474461739 ] ] }, { "task_id": "0002800", "id": "RH20T_cfg4_task_0080_user_0007_scene_0006_cfg_0004_104122062823#125", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002800/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999988, 0.79999999984 ], [ 0.8119379380530263, 0.5837437663480444 ], [ 0.612316698336386, -0.7906125858715046 ], [ -0.7109054627388343, -0.7032875820374507 ] ] }, { "task_id": "0002801", "id": "RH20T_cfg4_task_0122_user_0007_scene_0008_cfg_0004_104122062823#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002801/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6987451661433417, -0.7153706681094171 ], [ -0.7823869289737678, -0.6227926568056149 ], [ -0.732977195997793, 0.6802532103174619 ], [ 0.707106781148086, 0.707106781148086 ] ] }, { "task_id": "0002803", "id": "RH20T_cfg6_task_0010_user_0014_scene_0009_cfg_0006_104122064161#161", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002803/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1376950035392316, 0.9904746771121062 ], [ 0.9992578857845789, 0.03851853706118119 ], [ -0.04795432162162691, -0.9988495297279815 ], [ -0.9999999995, 0.0 ] ] }, { "task_id": "0002804", "id": "RH20T_cfg7_task_0052_user_0014_scene_0002_cfg_0007_104122064161#78", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002804/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9847835587608899, -0.17378533389898057 ], [ -0.28605758833768397, -0.9582124274681623 ], [ -0.9787043235730765, 0.2052750521114702 ], [ 0.02350018299501655, 0.9997238325653744 ] ] }, { "task_id": "0002805", "id": "RH20T_cfg5_task_0070_user_0007_scene_0005_cfg_0005_104122063678#249", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002805/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4907673410374371, 0.8712906615883381 ], [ 0.9074592501123738, -0.4201401068518552 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.47496087411845017, -0.8800069136413861 ] ] }, { "task_id": "0002806", "id": "RH20T_cfg4_task_0107_user_0007_scene_0005_cfg_0004_104122062823#134", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002806/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7872670822312858, -0.6166121481409834 ], [ -0.5232522726673912, -0.8521778330538822 ], [ -0.8206256935229725, 0.5714660717224954 ], [ 0.59999999994, 0.79999999992 ] ] }, { "task_id": "0002808", "id": "RH20T_cfg1_task_0026_user_0001_scene_0004_cfg_0001_039422060546#88", "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 to close 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002808/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20859240554914232, 0.9780026627505787 ], [ 0.9839055503183189, 0.17868930592737234 ], [ 0.29344970012929156, -0.9559745150860607 ], [ -0.9701424999100378, -0.24253562497750944 ] ] }, { "task_id": "0002809", "id": "RH20T_cfg7_task_0014_user_0020_scene_0010_cfg_0007_104122064161#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002809/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.9196673851376107, -0.39269823110646873 ], [ -0.32846863794597125, -0.9445148775355096 ], [ -0.8930119855437827, 0.4500328806600145 ] ] }, { "task_id": "0002810", "id": "RH20T_cfg3_task_0071_user_0010_scene_0005_cfg_0003_104122062823#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'slide the sliding window towards the frame to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002810/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995817450620234, 0.028919456059203458 ], [ -0.06237828615323501, 0.9980525784517602 ], [ 0.15878730886807368, -0.9873128129131289 ], [ -0.9975195489043812, 0.07038998191220032 ] ] }, { "task_id": "0002811", "id": "RH20T_cfg2_task_0017_user_0006_scene_0010_cfg_0002_037522062165#298", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002811/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.98504984464288, 0.17226956657819137 ], [ -0.1961161350997225, 0.9805806754986125 ], [ 0.166591706465695, -0.9860259648390846 ], [ -0.9960286617012689, -0.08903316836763292 ] ] }, { "task_id": "0002812", "id": "RH20T_cfg7_task_0015_user_0020_scene_0005_cfg_0007_104122064161#118", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002812/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7381521073262024, -0.6746343205395695 ], [ -0.6150469015316549, -0.7884905255716843 ], [ -0.8016008649676643, 0.5978595598324847 ] ] }, { "task_id": "0002813", "id": "RH20T_cfg7_task_0006_user_0020_scene_0010_cfg_0007_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the gripper to push the small block from bottom to top', and now you are performing subtask 'push the small block from the lower position to the upper position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002813/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10364740231305083, 0.9946141040593365 ], [ -0.9999999989999999, 0.0 ], [ 0.9995317358376251, 0.030599167528285055 ], [ -0.005354561259697214, -0.9999856642341011 ] ] }, { "task_id": "0002814", "id": "RH20T_cfg4_task_0085_user_0007_scene_0002_cfg_0004_104122062823#69", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002814/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11043152606265141, 0.9938837345638627 ], [ 0.9785559317501086, 0.2059812817628747 ], [ 0.24585895038913816, -0.9693056156411926 ], [ -0.9899238838189846, -0.14160050933784643 ] ] }, { "task_id": "0002815", "id": "RH20T_cfg4_task_0111_user_0007_scene_0005_cfg_0004_104122062823#166", "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 green shape above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002815/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9894007216688732, -0.14521092232030222 ], [ 0.0, 0.9999999999230769 ], [ -0.001864228782312934, -0.9999982623240139 ], [ -0.9906306641704076, 0.13656825108822765 ] ] }, { "task_id": "0002816", "id": "RH20T_cfg6_task_0013_user_0014_scene_0009_cfg_0006_104122064161#60", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002816/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9897576711454921, 0.14275767022703903 ], [ 0.0, 0.999999999875 ], [ -0.12002846835547966, -0.9927704501969413 ], [ -0.9984377728905065, 0.05587498246483352 ] ] }, { "task_id": "0002817", "id": "RH20T_cfg1_task_0006_user_0004_scene_0004_cfg_0001_039422060546#126", "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 'push the small block from the left position to the right position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002817/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7028825151656614, -0.711305960803362 ], [ -0.7205835083687621, -0.69336816156135 ], [ 0.7071067811151189, 0.7071067811151189 ], [ -0.7037017127847288, 0.7104955308964576 ] ] }, { "task_id": "0002818", "id": "RH20T_cfg4_task_0111_user_0007_scene_0008_cfg_0004_104122062823#102", "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 orange puzzle piece from 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002818/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9604560295906273, 0.278431706569148 ], [ 0.44265146966242247, -0.8966937472770163 ], [ -0.9039052932703923, -0.4277326510774764 ], [ -0.35897907928309586, 0.9333456061360492 ] ] }, { "task_id": "0002819", "id": "RH20T_cfg4_task_0090_user_0014_scene_0004_cfg_0004_104122062823#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small cube', and now you are performing subtask 'push the small cube position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002819/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.7996055094482516, -0.6005256274797954 ], [ -0.6637269083346704, -0.7479749936679033 ], [ -0.7364158732636379, 0.6765291284234211 ] ] }, { "task_id": "0002820", "id": "RH20T_cfg6_task_0103_user_0020_scene_0004_cfg_0006_104122064161#167", "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 to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002820/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9610239402471552, -0.27646516285389805 ], [ -0.21653921480771526, -0.9762739208083243 ], [ -0.9592496026636625, 0.2825600817341428 ], [ 0.31622776599183794, 0.9486832979755138 ] ] }, { "task_id": "0002821", "id": "RH20T_cfg4_task_0202_user_0010_scene_0009_cfg_0004_104122062823#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a small pipette into the holder for small pipette tips', and now you are performing subtask 'pick up the small pipette from the top of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002821/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7464130368638429, -0.6654829662731387 ], [ -0.7498947881201875, -0.6615571077013527 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7356659214821731, 0.67734455926787 ] ] }, { "task_id": "0002822", "id": "RH20T_cfg4_task_0116_user_0014_scene_0010_cfg_0004_038522062288#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the correction tape on the paper', and now you are performing subtask 'pick up the correction tape on the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002822/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2942997573435993, -0.9557131645151168 ], [ -0.9659266670112311, -0.2588159074643102 ], [ -0.2928841543821061, 0.956147934219323 ], [ 0.9284766907990525, 0.37139067631962097 ] ] }, { "task_id": "0002823", "id": "RH20T_cfg6_task_0041_user_0014_scene_0006_cfg_0006_104122064161#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the stain on the desktop with a green cloth', and now you are performing subtask 'clean the tabletop with a green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002823/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9903081166819439, 0.13888784696243783 ], [ -0.054532940046965725, -0.9985119721114185 ], [ -0.9968761041248605, 0.07898121944386774 ], [ 0.0, 0.9999999999473684 ] ] }, { "task_id": "0002824", "id": "RH20T_cfg4_task_0064_user_0007_scene_0010_cfg_0004_104122062823#137", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002824/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067811508333, 0.7071067811508333 ], [ 0.6372260905769226, -0.7706769164105356 ], [ -0.7426500804886936, -0.6696796681624259 ], [ -0.6563708935578466, 0.7544383673237159 ] ] }, { "task_id": "0002826", "id": "RH20T_cfg4_task_0126_user_0010_scene_0004_cfg_0004_104122062823#99", "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 cord 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002826/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5028629327165918, -0.8643661671419519 ], [ 0.9284766907128456, 0.3713906762851382 ], [ -0.9473088580180694, -0.32032160014663574 ], [ -0.3806263309696305, 0.9247289311861057 ] ] }, { "task_id": "0002827", "id": "RH20T_cfg4_task_0088_user_0014_scene_0002_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the box on the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002827/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.67525388320809, 0.7375853802865098 ], [ -0.7525766946360813, -0.6585046078065712 ], [ 0.6665773394820073, 0.7454358795289431 ], [ 0.6813445969289037, -0.7319627997622487 ] ] }, { "task_id": "0002828", "id": "RH20T_cfg2_task_0082_user_0007_scene_0008_cfg_0002_037522062165#206", "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 black 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002828/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9979349795530608, 0.06423220831041303 ], [ -0.12926222391814768, -0.9916104464293096 ], [ 0.0, 0.9999999995 ], [ -0.9955667806076077, 0.09405735139054011 ] ] }, { "task_id": "0002829", "id": "RH20T_cfg3_task_0070_user_0010_scene_0010_cfg_0003_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'pull the handle of the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002829/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9937556644523824, -0.11157813123011165 ], [ -0.10183773578158958, -0.9948010231050626 ], [ -0.9959410626914099, 0.09000777547026229 ], [ 0.0, 0.9999999999375 ] ] }, { "task_id": "0002830", "id": "RH20T_cfg6_task_0022_user_0014_scene_0001_cfg_0006_104122064161#39", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002830/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9557790086516798, -0.29408584881590144 ], [ -0.4250691733250012, -0.9051608685138792 ], [ -0.934601793863404, 0.3556957785907889 ], [ 0.24245112877379124, 0.9701636203013977 ] ] }, { "task_id": "0002833", "id": "RH20T_cfg4_task_0004_user_0010_scene_0007_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block on the desktop to the left', 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002833/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9917660231597669, 0.12806309111473493 ], [ -0.03843312209972729, 0.9992611745929095 ], [ -0.0022347575942716787, -0.9999975029261298 ], [ -0.9920480513175707, -0.12585969917734022 ] ] }, { "task_id": "0002834", "id": "RH20T_cfg3_task_0029_user_0010_scene_0007_cfg_0003_104122062823#167", "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 the outside'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002834/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5189827336215834, -0.8547847227241889 ], [ -0.7447662232659888, -0.6673254623361192 ], [ 0.8192319204519264, 0.5734623443163485 ], [ -0.5572099940788942, 0.8303716171080264 ] ] }, { "task_id": "0002835", "id": "RH20T_cfg6_task_0104_user_0014_scene_0002_cfg_0006_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the plate above the table', and now you are performing subtask 'slide the plate above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002835/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9794933096690094, -0.20147668925622658 ], [ -0.2388973085549025, -0.9710448372579011 ], [ -0.9964152540192519, 0.08459693586501722 ], [ 0.16990691650187253, 0.9854601157108607 ] ] }, { "task_id": "0002836", "id": "RH20T_cfg6_task_0206_user_0014_scene_0009_cfg_0006_104122064161#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cut the green onions', and now you are performing subtask 'pick up the knife on the chopping board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002836/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.998780811466916, 0.049364872586576 ], [ 0.020197606252573698, 0.9997960075443721 ], [ 0.9944012495847241, -0.10567002803226329 ], [ 0.0, -0.9999999998571428 ] ] }, { "task_id": "0002837", "id": "RH20T_cfg7_task_0008_user_0014_scene_0010_cfg_0007_104122064161#73", "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 at the designated position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002837/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3661392146130059, -0.9305600870027531 ], [ -0.9554646977288076, 0.2951054242029422 ], [ 0.9103664773872623, -0.41380294426693737 ], [ 0.31394250401584367, 0.9494419962126501 ] ] }, { "task_id": "0002838", "id": "RH20T_cfg5_task_0045_user_0007_scene_0010_cfg_0005_104122063678#297", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002838/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9930090302000988, -0.11803840875350408 ], [ -0.03440732512767337, -0.999407892693248 ], [ -0.999974956975219, -0.007077105510657976 ] ] }, { "task_id": "0002839", "id": "RH20T_cfg5_task_0222_user_0010_scene_0001_cfg_0005_104122063678#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid from the side of the pot'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002839/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8952615091857783, -0.4455410532940848 ], [ -0.5358024588368805, -0.8443433691954673 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.865512872018766, 0.5008866821645662 ] ] }, { "task_id": "0002840", "id": "RH20T_cfg2_task_0012_user_0007_scene_0005_cfg_0002_105422061350#156", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002840/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7043214207605906, -0.7098812127798448 ], [ -0.762684791134086, -0.6467703683478052 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7757209289564674, 0.6310760971379881 ] ] }, { "task_id": "0002841", "id": "RH20T_cfg2_task_0101_user_0007_scene_0003_cfg_0002_105422061350#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the table with a towel', and now you are performing subtask 'wipe the water on the table with a towel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002841/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832979005138, 0.31622776596683794 ], [ 0.22353010671702436, 0.9746970254346095 ], [ 0.9724634129562479, -0.23305559521600408 ], [ -0.34508671140112046, -0.9385708079917892 ] ] }, { "task_id": "0002842", "id": "RH20T_cfg6_task_0064_user_0007_scene_0007_cfg_0006_104122063633#97", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002842/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7090018840723338, 0.7052065856058642 ], [ -0.59999999988, 0.79999999984 ], [ 0.6741537998359218, -0.7385909924760712 ], [ -0.8696937832165145, -0.49359165656901705 ] ] }, { "task_id": "0002843", "id": "RH20T_cfg2_task_0075_user_0014_scene_0005_cfg_0002_105422061350#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002843/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20610980496640638, 0.9785288694242547 ], [ 0.9658453226342686, 0.2591193021476898 ], [ 0.22181055081118298, -0.975089780250434 ], [ -0.9938837346187408, -0.11043152606874898 ] ] }, { "task_id": "0002844", "id": "RH20T_cfg4_task_0031_user_0016_scene_0004_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002844/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7348034445859544, 0.6782801026947272 ], [ 0.7776446673728223, 0.6287040411088612 ], [ 0.795250565085897, -0.6062809074435395 ], [ -0.5772556086132467, -0.81656350783301 ] ] }, { "task_id": "0002845", "id": "RH20T_cfg2_task_0004_user_0003_scene_0002_cfg_0002_104122061850#179", "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 block on the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002845/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.720193229231049, -0.6937735311827296 ], [ 0.6246950474568633, 0.7808688093210792 ], [ -0.7284269761004315, -0.6851234490872294 ], [ -0.7235309616659732, 0.6902919291942448 ] ] }, { "task_id": "0002846", "id": "RH20T_cfg4_task_0013_user_0007_scene_0006_cfg_0004_104122062823#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the transparent box on the scale', and now you are performing subtask 'push the transparent box to the left'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002846/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05251546872712203, 0.9986201107249797 ], [ 0.9908802872448956, -0.13474515334316556 ], [ -0.9999999999411765, 0.0 ], [ -0.0730107730283655, -0.9973311521364409 ] ] }, { "task_id": "0002847", "id": "RH20T_cfg4_task_0005_user_0010_scene_0003_cfg_0004_104122062823#73", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002847/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3092793087956288, 0.9509712451756352 ], [ 0.9738764739366755, -0.22707843031135225 ], [ -0.970142500098273, 0.24253562502456824 ], [ -0.35430786649162677, -0.9351288337668514 ] ] }, { "task_id": "0002848", "id": "RH20T_cfg5_task_0092_user_0007_scene_0005_cfg_0005_104122063678#213", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002848/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.3754785787653626, 0.9268310724659287 ], [ 0.9449088044471401, -0.32733370018725005 ], [ -0.549265660228708, -0.8356477933277402 ] ] }, { "task_id": "0002849", "id": "RH20T_cfg2_task_0001_user_0006_scene_0002_cfg_0002_037522062165#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the orange base with the red key', and now you are performing subtask 'press the red button on the orange base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002849/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.890569278509596, -0.4548476230287433 ], [ -0.5067555059521666, -0.862089819674936 ], [ -0.9250173267269632, 0.3799249205499721 ] ] }, { "task_id": "0002850", "id": "RH20T_cfg5_task_0044_user_0007_scene_0003_cfg_0005_104122063678#276", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place a bag of things in the middle of the table', and now you are performing subtask 'pick up a bag of things 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002850/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14454932664424477, -0.9894975958367436 ], [ -0.9939981821810199, 0.10939658962155988 ], [ 0.08683996733006458, 0.9962222744318224 ], [ 0.9999999996666666, 0.0 ] ] }, { "task_id": "0002851", "id": "RH20T_cfg2_task_0028_user_0003_scene_0005_cfg_0002_037522062165#175", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002851/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3834395763386762, -0.9235659647784865 ], [ -0.8472618211289505, -0.5311754949705927 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.5128936202614589, 0.8584521735630322 ] ] }, { "task_id": "0002852", "id": "RH20T_cfg3_task_0022_user_0011_scene_0003_cfg_0003_104122062823#173", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002852/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9590112562902094, -0.2833679768581383 ], [ 0.3162277659835046, 0.9486832979505138 ], [ -0.38268956902615536, -0.9238769905991683 ], [ -0.9376008357538589, 0.347713492395198 ] ] }, { "task_id": "0002853", "id": "RH20T_cfg6_task_0041_user_0020_scene_0004_cfg_0006_104122064161#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the sponge on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002853/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7691577044980348, -0.6390590157499649 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.5892017313508746, -0.8079859650842531 ], [ -0.7568881262991245, 0.6535444623492732 ] ] }, { "task_id": "0002854", "id": "RH20T_cfg4_task_0032_user_0016_scene_0001_cfg_0004_104122062823#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the lid of the box', and now you are performing subtask 'push the lid onto the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002854/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999998, 0.0 ], [ 0.12072139687813986, 0.9926864280001972 ], [ 0.9947642802054888, -0.10219602158232866 ], [ 0.011327999753925984, -0.9999358361522879 ] ] }, { "task_id": "0002855", "id": "RH20T_cfg3_task_0013_user_0011_scene_0004_cfg_0003_104122062823#149", "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 top of the pink 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002855/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8408987795289162, -0.541192426579289 ], [ -0.7119471947526388, -0.7022330039836124 ], [ 0.59999999988, 0.79999999984 ], [ -0.7748148250892583, 0.6321882526762912 ] ] }, { "task_id": "0002856", "id": "RH20T_cfg2_task_0073_user_0014_scene_0010_cfg_0002_105422061350#79", "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 'pick up the block 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002856/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9145258335996902, 0.4045275017582757 ], [ 0.5170423941088108, -0.8559597903489562 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9015217775755184, -0.43273373401790344 ] ] }, { "task_id": "0002857", "id": "RH20T_cfg2_task_0073_user_0014_scene_0010_cfg_0002_105422061350#227", "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 'throw the block into 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002857/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.988832945316367, -0.14902820624619637 ], [ -0.13785015597243366, -0.9904530955569656 ], [ 0.0, 0.99999999975 ], [ -0.989244318916622, 0.1462726136062002 ] ] }, { "task_id": "0002858", "id": "RH20T_cfg4_task_0091_user_0007_scene_0005_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 item from the left gray 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002858/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.25890090467875226, -0.9659038883639116 ], [ -0.9344153820962966, -0.35618519579262686 ], [ -0.3118974018870177, 0.950115788046977 ], [ 0.9626509401394192, 0.27074557691421164 ] ] }, { "task_id": "0002859", "id": "RH20T_cfg5_task_0100_user_0007_scene_0002_cfg_0005_104122063678#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the cup with a spoon', and now you are performing subtask 'pick up the spoon in the cup'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002859/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20526184035469439, 0.9787070945355428 ], [ 0.9207436826893475, 0.3901680032853262 ], [ -0.9486832977505137, -0.31622776591683793 ], [ 0.23726236290876182, -0.9714456089493385 ] ] }, { "task_id": "0002860", "id": "RH20T_cfg5_task_0025_user_0010_scene_0010_cfg_0005_104122063678#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of blank paper on the desk', and now you are performing subtask 'fold a piece of white paper on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002860/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.48537695068825915, 0.87430499011533 ], [ 0.8678009162851803, 0.49691203416158225 ], [ 0.37953990378440366, -0.9251753679358988 ], [ -0.8574929255654853, -0.5144957553392911 ] ] }, { "task_id": "0002862", "id": "RH20T_cfg4_task_0071_user_0007_scene_0008_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the window handle to the position of the closed 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002862/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5311351676534644, -0.8472871022750944 ], [ 0.7999999999466667, 0.59999999996 ], [ -0.6972085693968891, -0.7168683357211025 ], [ -0.5325367216257486, 0.8464068998537878 ] ] }, { "task_id": "0002863", "id": "RH20T_cfg2_task_0041_user_0007_scene_0003_cfg_0002_037522062165#227", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002863/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7900037344311683, -0.6131020303218773 ], [ -0.764139451850096, -0.6450510817960348 ], [ -0.7685073047554125, 0.6398410134850464 ], [ 0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0002864", "id": "RH20T_cfg6_task_0060_user_0014_scene_0004_cfg_0006_104122064161#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the button counterclockwise', and now you are performing subtask 'turn the button counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002864/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8400714566936159, 0.542475757659885 ], [ 0.5971779334923926, -0.8021087929637448 ], [ -0.8158005133944286, -0.5783334006828471 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0002865", "id": "RH20T_cfg4_task_0072_user_0007_scene_0007_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin on the switch'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002865/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8506337161802959, 0.5257587668287613 ], [ -0.6246950474568633, 0.7808688093210792 ], [ 0.5925756737971296, -0.8055147862229952 ], [ -0.8302671745013939, -0.5573656061737863 ] ] }, { "task_id": "0002867", "id": "RH20T_cfg3_task_0063_user_0010_scene_0005_cfg_0003_104122062823#146", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002867/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.24253562501672515, 0.9701425000669006 ], [ 0.9661018725910009, 0.25816113529375734 ], [ 0.37891203067196416, -0.9254326950200369 ], [ -0.9378797814003502, -0.3469603949162371 ] ] }, { "task_id": "0002868", "id": "RH20T_cfg4_task_0065_user_0016_scene_0001_cfg_0004_104122062823#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'pick up the white small Lego 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002868/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9459331510166137, -0.32436164046906096 ], [ 0.20952908871623932, 0.9778024140091168 ], [ -0.23597463986869788, -0.9717592136629518 ], [ -0.967073038706615, 0.25449899372444273 ] ] }, { "task_id": "0002869", "id": "RH20T_cfg7_task_0008_user_0020_scene_0007_cfg_0007_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 cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002869/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8831832996631959, -0.46902799404303114 ], [ -0.6767927521309186, -0.7361736009006687 ], [ 0.5547001961867676, 0.8320502942801514 ], [ -0.7486426182912805, 0.6629737778207945 ] ] }, { "task_id": "0002870", "id": "RH20T_cfg6_task_0125_user_0014_scene_0001_cfg_0006_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002870/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8192319204519264, -0.5734623443163485 ], [ -0.5435321519406575, -0.839388348624615 ], [ -0.8717784402553895, 0.4899003481381497 ], [ 0.5656801360899181, 0.8246247532261519 ] ] }, { "task_id": "0002871", "id": "RH20T_cfg5_task_0122_user_0010_scene_0001_cfg_0005_104122063678#283", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002871/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8320502941070744, 0.554700196071383 ], [ 0.5420278119872716, 0.8403605482364644 ], [ 0.8224641607150566, -0.568816933942088 ], [ -0.4456227001803163, -0.8952208716758139 ] ] }, { "task_id": "0002872", "id": "RH20T_cfg2_task_0006_user_0013_scene_0009_cfg_0002_105422061350#235", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from above the table to the middle of the table', and now you are performing subtask 'push the small block from above the table to the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002872/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9913571735354861, -0.13119052740092252 ], [ -0.07012686550194801, -0.9975380808444717 ], [ 0.0, 0.9999999995 ], [ -0.9999904541252048, -0.004369400241067173 ] ] }, { "task_id": "0002873", "id": "RH20T_cfg6_task_0007_user_0014_scene_0008_cfg_0006_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sweep a small block on the table from right to left', and now you are performing subtask 'pick up the small piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002873/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9871111661698937, -0.16003607600385789 ], [ -0.015536696210350759, -0.9998792982509775 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9998880402176048, 0.014963523308285305 ] ] }, { "task_id": "0002874", "id": "RH20T_cfg7_task_0048_user_0020_scene_0009_cfg_0007_104122064161#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002874/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.6416645723565311, -0.7669853822482605 ], [ -0.7490568533117941, -0.6625057211123793 ], [ -0.7922435917052113, 0.6102049585196981 ] ] }, { "task_id": "0002875", "id": "RH20T_cfg4_task_0043_user_0007_scene_0003_cfg_0004_104122062823#198", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002875/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.7571606483515857, 0.6532287138421017 ], [ 0.6665233280887025, -0.7454841736170928 ], [ -0.7283790414009352, -0.6851744099481932 ] ] }, { "task_id": "0002876", "id": "RH20T_cfg5_task_0118_user_0010_scene_0002_cfg_0005_104122063678#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'twist the handle of the water tap clockwise to turn on the water'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002876/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09053574603432181, 0.9958932063775399 ], [ 0.9998817210465762, -0.015379984295726049 ], [ 0.17100943384211612, -0.9852693913529431 ], [ -0.9987093487606835, -0.050790124020438386 ] ] }, { "task_id": "0002877", "id": "RH20T_cfg7_task_0039_user_0014_scene_0003_cfg_0007_104122064161#68", "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 full 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002877/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.569703976720685, -0.8218499734797327 ], [ -0.8784582004091611, -0.4778192023494853 ], [ 0.8479983039152004, 0.5299989399470002 ], [ -0.5564359725805801, 0.8308904912311272 ] ] }, { "task_id": "0002878", "id": "RH20T_cfg2_task_0044_user_0007_scene_0010_cfg_0002_037522062165#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag on the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002878/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8930473379561954, 0.44996272308864976 ], [ -0.31622776596683794, 0.9486832979005138 ], [ 0.4254629697471363, -0.9049758346905996 ], [ -0.9597989752279896, -0.28068830960925517 ] ] }, { "task_id": "0002879", "id": "RH20T_cfg3_task_0059_user_0010_scene_0005_cfg_0003_104122062823#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'press the knob on the speaker to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002879/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.99999999975, 0.0 ], [ -0.00039184972755496993, 0.9999999232268926 ], [ 0.9999009903120906, -0.014071587433572364 ], [ -0.1413756479380622, -0.9899560223414438 ] ] }, { "task_id": "0002881", "id": "RH20T_cfg1_task_0005_user_0004_scene_0006_cfg_0001_039422060546#259", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the right', and now you are performing subtask 'push the block to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002881/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.029997471896933813, -0.9995499745784563 ], [ -0.9882795793710044, -0.15265475098492892 ], [ 0.9999999995, 0.0 ], [ 0.09569017021408241, 0.9954111669679018 ] ] }, { "task_id": "0002882", "id": "RH20T_cfg5_task_0103_user_0007_scene_0007_cfg_0005_104122063678#196", "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 'slide the plate from the center of the table to the target position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002882/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6704314706573411, 0.7419714571007666 ], [ -0.73994007334617, 0.6726727939510636 ], [ 0.8296694963472048, -0.5582548941397429 ], [ -0.764197123142192, -0.6449827571192872 ] ] }, { "task_id": "0002883", "id": "RH20T_cfg4_task_0022_user_0016_scene_0010_cfg_0004_104122062823#87", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002883/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6549305383848469, 0.7556890827517465 ], [ 0.7245934384015088, -0.6891765731838821 ], [ -0.7598704520885415, -0.6500745311445109 ], [ -0.7950460032927925, 0.606549134570446 ] ] }, { "task_id": "0002885", "id": "RH20T_cfg3_task_0048_user_0010_scene_0010_cfg_0003_104122062823#125", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002885/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8977072376845201, -0.4405924595460394 ], [ -0.4461143299781953, 0.8949759798944918 ], [ 0.5421268698073981, -0.8402966482014671 ], [ 0.7656202576996204, 0.6432927957003459 ] ] }, { "task_id": "0002886", "id": "RH20T_cfg4_task_0086_user_0015_scene_0010_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the small stick next to the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002886/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9944526394944183, 0.1051853022174894 ], [ 0.0, 0.9999999995 ], [ 0.08838360629001162, -0.9960865113729692 ], [ -0.991409221938291, -0.1307966156126099 ] ] }, { "task_id": "0002887", "id": "RH20T_cfg3_task_0004_user_0016_scene_0009_cfg_0003_104122062823#168", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the block on the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002887/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.21871728969165827, 0.9757882696517393 ], [ -0.9701424999100378, -0.24253562497750944 ], [ 0.984004880942722, 0.1781415007259666 ], [ 0.2755519851159699, -0.9612861714903884 ] ] }, { "task_id": "0002888", "id": "RH20T_cfg4_task_0217_user_0010_scene_0006_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 cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002888/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993550091945269, -0.035910522104349404 ], [ -0.239637600899862, -0.970862410558241 ], [ -0.9997084175635745, 0.024147046455699348 ], [ 0.1414213562273095, 0.9899494935911665 ] ] }, { "task_id": "0002889", "id": "RH20T_cfg3_task_0021_user_0010_scene_0010_cfg_0003_104122062823#108", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002889/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3786328457045749, 0.9255469561667387 ], [ 0.9686654535199737, -0.24836915902934434 ], [ -0.23020983981164098, -0.973141012214519 ], [ -0.9305787142046655, 0.3660918691656391 ] ] }, { "task_id": "0002891", "id": "RH20T_cfg2_task_0013_user_0003_scene_0006_cfg_0002_037522062165#128", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002891/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.597094971969691, -0.8021705519704112 ], [ -0.7758064155474557, 0.6309710021826744 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.6980645743113827, 0.7160348106701713 ] ] }, { "task_id": "0002892", "id": "RH20T_cfg6_task_0089_user_0020_scene_0006_cfg_0006_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the square on the table around the piggy bank in a clockwise direction'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002892/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9714935377477208, 0.23706603745458282 ], [ 0.4101586511359434, -0.9120141889786275 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.9190617714962257, -0.3941135117884432 ] ] }, { "task_id": "0002893", "id": "RH20T_cfg4_task_0070_user_0007_scene_0001_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pulling the handle of the sliding window to open the window', and now you are performing subtask 'pull the handle of the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002893/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8679536752720569, -0.49664516264807096 ], [ -0.6812340707165162, -0.7320656670647823 ], [ 0.5812381936853126, 0.8137334711594377 ], [ -0.8571729913531048, 0.5150286039578482 ] ] }, { "task_id": "0002894", "id": "RH20T_cfg4_task_0017_user_0007_scene_0001_cfg_0004_104122062823#134", "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 on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002894/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6328124476722334, -0.7743051117428302 ], [ -0.6059781482419326, -0.7954812906997112 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.8061191179587688, 0.5917532996624324 ] ] }, { "task_id": "0002895", "id": "RH20T_cfg4_task_0080_user_0015_scene_0010_cfg_0004_104122062823#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'flip the paper over and place it on the table', and now you are performing subtask 'pick up the paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002895/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.501036270518883, 0.8654262854417071 ], [ 0.9075957918724199, -0.41984506496501217 ], [ -0.4903069417726755, -0.8715498280933376 ], [ -0.7788403802284161, 0.6272221792360791 ] ] }, { "task_id": "0002896", "id": "RH20T_cfg4_task_0070_user_0015_scene_0007_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'slide the sliding window to the desired open position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002896/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31176833871744575, 0.9501581462963753 ], [ 0.9410916330574063, -0.33815164969188627 ], [ -0.5587380782027013, -0.8293441746141057 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0002897", "id": "RH20T_cfg3_task_0075_user_0010_scene_0008_cfg_0003_104122062823#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black knight on the left side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002897/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9658800044018219, -0.2589899942019702 ], [ 0.12403473457382384, 0.9922778765905907 ], [ -0.11272677445273402, -0.9936260233717122 ], [ -0.9914064195789309, 0.13081785511804092 ] ] }, { "task_id": "0002898", "id": "RH20T_cfg6_task_0088_user_0020_scene_0003_cfg_0006_104122064161#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small cube from behind the golden pig to in front of the golden pig', and now you are performing subtask 'pick up the small cube on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002898/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.877038732316507, -0.48041967280353376 ], [ -0.36051415116007235, -0.9327537439288747 ], [ -0.8543191114646826, 0.5197488391388625 ] ] }, { "task_id": "0002899", "id": "RH20T_cfg2_task_0045_user_0007_scene_0003_cfg_0002_037522062165#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002899/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7048404202798697, 0.7093659013088356 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.768108667574161, 0.6403195099303528 ], [ 0.7323619961813238, -0.6809154914887064 ] ] }, { "task_id": "0002900", "id": "RH20T_cfg3_task_0012_user_0011_scene_0007_cfg_0003_104122062823#168", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002900/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4686726429987301, 0.8833719226376765 ], [ -0.9191450298973682, 0.3939192985274435 ], [ 0.9350690768960822, -0.3544655433645263 ], [ -0.2858973340470284, -0.9582602539940817 ] ] }, { "task_id": "0002901", "id": "RH20T_cfg6_task_0094_user_0020_scene_0009_cfg_0006_104122064161#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid above the pink 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002901/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8556540006554886, -0.5175482887250786 ], [ -0.5756719878832088, -0.8176807215329188 ], [ -0.9427434808611661, 0.3335187090610845 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0002902", "id": "RH20T_cfg2_task_0022_user_0003_scene_0002_cfg_0002_037522062165#209", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002902/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9209100625432295, -0.38977513608056785 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.5033416583295086, -0.8640874810978922 ], [ -0.9191595091664162, 0.39388551218463586 ] ] }, { "task_id": "0002904", "id": "RH20T_cfg4_task_0010_user_0010_scene_0010_cfg_0004_104122062823#98", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002904/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9566673414930016, 0.29118309999159114 ], [ 0.22914261365354563, -0.9733928613915463 ], [ -0.31622776599183794, 0.9486832979755138 ], [ -0.922729131183335, -0.385449024471003 ] ] }, { "task_id": "0002905", "id": "RH20T_cfg4_task_0088_user_0014_scene_0009_cfg_0004_104122062823#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002905/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981984548771679, 0.05999870565966313 ], [ 0.10317718269373563, -0.994662992662029 ], [ -0.14834045292290965, 0.9889363528193977 ], [ -0.9904733396509297, -0.13770462389017346 ] ] }, { "task_id": "0002906", "id": "RH20T_cfg4_task_0014_user_0007_scene_0008_cfg_0004_104122062823#104", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002906/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6104019464952712, -0.7920918278298194 ], [ -0.5924696188633483, -0.8055927946077466 ], [ -0.7851780807022533, 0.6192700393081567 ], [ 0.7013347674515197, 0.7128320587212168 ] ] }, { "task_id": "0002907", "id": "RH20T_cfg2_task_0072_user_0014_scene_0002_cfg_0002_105422061350#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into the piggy bank', and now you are performing subtask 'pick up the coin from the object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002907/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13006820551914872, 0.9915050488590709 ], [ 0.9940586086101008, -0.10884614209125876 ], [ -0.9999999989999999, 0.0 ], [ -0.03213672106169431, -0.9994834821843745 ] ] }, { "task_id": "0002908", "id": "RH20T_cfg5_task_0039_user_0007_scene_0002_cfg_0005_104122063678#238", "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 with water 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002908/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06075519140336567, 0.9981526970947584 ], [ -0.9999999989999999, 0.0 ], [ 0.9975598506342572, -0.06981650523019829 ], [ -0.08938833956129902, -0.9959968497693524 ] ] }, { "task_id": "0002909", "id": "RH20T_cfg5_task_0046_user_0010_scene_0010_cfg_0005_104122063678#275", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the cup on the cup rack', and now you are performing subtask 'push the cup over'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002909/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8333618204735592, -0.5527278500102879 ], [ -0.547386839552749, -0.8368797093277224 ], [ -0.8466004549087791, 0.5322289636502775 ], [ 0.6246950474568633, 0.7808688093210792 ] ] }, { "task_id": "0002910", "id": "RH20T_cfg4_task_0105_user_0007_scene_0015_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002910/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999950413438001, 0.003149172559806459 ], [ -0.10250652141743691, 0.9947323323723305 ], [ 0.9985714436743389, -0.05343287263610821 ], [ 0.05872202194802207, -0.9982743731163751 ] ] }, { "task_id": "0002911", "id": "RH20T_cfg6_task_0061_user_0014_scene_0010_cfg_0006_104122063633#47", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the square from the gift box and throw it onto the table', and now you are performing subtask 'pick up the first block in the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002911/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9048575638571699, 0.42571444552712523 ], [ 0.5826281485348849, -0.8127388513752818 ], [ -0.4788521306423567, 0.8778955728443206 ], [ -0.8873531374436899, -0.4610904569266641 ] ] }, { "task_id": "0002912", "id": "RH20T_cfg6_task_0061_user_0014_scene_0010_cfg_0006_104122063633#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the square from the gift box and throw it onto the table', and now you are performing subtask 'pick up the second 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002912/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9988660586995233, -0.047608788874332585 ], [ 0.053096779824438216, -0.998589371049119 ], [ 0.0, 0.9999999998333333 ], [ -0.9999208746314051, -0.01257952607874932 ] ] }, { "task_id": "0002913", "id": "RH20T_cfg4_task_0123_user_0007_scene_0002_cfg_0004_104122062823#112", "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 from the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002913/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9296364848047954, 0.36847795879778683 ], [ 0.3249471751369621, -0.9457321678839673 ], [ -0.4228854653055764, 0.9061831399405209 ], [ -0.8868757518699145, -0.46200800939504716 ] ] }, { "task_id": "0002914", "id": "RH20T_cfg5_task_0011_user_0010_scene_0007_cfg_0005_104122063678#326", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the pink watering can 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002914/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8885289889271623, -0.4588204832350826 ], [ -0.4640979422038941, -0.8857838901459605 ], [ -0.8983944638284533, 0.4391894663609156 ] ] }, { "task_id": "0002915", "id": "RH20T_cfg4_task_0091_user_0014_scene_0010_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the button from the white box into the pink box', and now you are performing subtask 'pick up the button from the white 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002915/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.07533953552697127, -0.9971579385366093 ], [ -0.9951921913835372, 0.09794132023427687 ], [ -0.014188494523196529, 0.9998993382451882 ] ] }, { "task_id": "0002916", "id": "RH20T_cfg6_task_0090_user_0020_scene_0005_cfg_0006_104122064161#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the small wooden 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002916/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502942609206, 0.5547001961739471 ], [ 0.5643661445146281, -0.8255245937739797 ], [ -0.8451731594393086, -0.5344925916824078 ], [ -0.48370354635103036, 0.8752319002684013 ] ] }, { "task_id": "0002917", "id": "RH20T_cfg6_task_0048_user_0014_scene_0003_cfg_0006_104122064161#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'rotate the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002917/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9959454243930953, -0.08995949994557095 ], [ -0.2546211357350266, -0.9670408870554571 ], [ 0.17378533389898057, 0.9847835587608899 ], [ -0.9833476284944109, 0.18173453588797556 ] ] }, { "task_id": "0002918", "id": "RH20T_cfg3_task_0016_user_0010_scene_0004_cfg_0003_104122062823#239", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002918/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9236653319330405, 0.3832001495107043 ], [ 0.5444284547258359, 0.8388072828038861 ], [ -0.4472135954499579, -0.8944271908999158 ], [ 0.9251525897203198, -0.3795954237524283 ] ] }, { "task_id": "0002919", "id": "RH20T_cfg4_task_0062_user_0007_scene_0007_cfg_0004_104122062823#116", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002919/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5144957553392911, 0.8574929255654853 ], [ 0.8370727737974443, -0.5470915566585293 ], [ -0.6378384464857724, -0.7701701865072528 ], [ -0.7705941968619011, 0.6373261204146287 ] ] }, { "task_id": "0002920", "id": "RH20T_cfg2_task_0042_user_0007_scene_0006_cfg_0002_037522062165#352", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (needs to be turned)', and now you are performing subtask 'push the cap 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002920/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9996789062436112, -0.025339384593496835 ], [ 0.0, -0.9999999996666666 ], [ -0.033951676672318735, 0.9994234756353977 ], [ 0.9964113915943633, 0.08464241667736366 ] ] }, { "task_id": "0002921", "id": "RH20T_cfg2_task_0076_user_0014_scene_0002_cfg_0002_105422061350#137", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'pick up the blue block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002921/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09354445918293007, 0.9956151034190739 ], [ -0.9999999989999999, 0.0 ], [ 0.992131800553456, 0.12519780481525083 ], [ 0.13308714208071074, -0.9911043399222853 ] ] }, { "task_id": "0002922", "id": "RH20T_cfg2_task_0076_user_0014_scene_0002_cfg_0002_105422061350#468", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'press the blue block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002922/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999701789940342, 0.007722766514625504 ], [ 0.12403473457382384, 0.9922778765905907 ], [ -0.05364780297356658, -0.998559919702423 ], [ -0.9999997026561291, -0.0007711599402653703 ] ] }, { "task_id": "0002923", "id": "RH20T_cfg6_task_0015_user_0014_scene_0009_cfg_0006_104122063633#112", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002923/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9410360598665362, -0.3383062725266336 ], [ -0.1290420321716135, -0.9916391248498722 ], [ -0.9315467806507163, 0.36362150027093604 ], [ 0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0002924", "id": "RH20T_cfg4_task_0102_user_0007_scene_0010_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002924/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9876809516440634, 0.15648110991259412 ], [ 0.13752168490120426, -0.9904987562748041 ], [ -0.28734788555258395, 0.9578262851752798 ], [ -0.9089849460822931, -0.4168289430878941 ] ] }, { "task_id": "0002925", "id": "RH20T_cfg4_task_0217_user_0007_scene_0008_cfg_0004_104122062823#135", "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 plug 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002925/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.30598854327460684, 0.9520351944044317 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9667627083576057, -0.2556753131005551 ], [ -0.24578125814805565, -0.9693253185299344 ] ] }, { "task_id": "0002926", "id": "RH20T_cfg4_task_0084_user_0007_scene_0004_cfg_0004_104122062823#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002926/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7941117943065745, -0.6077717154846817 ], [ -0.6070880538625081, -0.7946345668654445 ], [ -0.8591584640482549, 0.5117096184890836 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0002927", "id": "RH20T_cfg3_task_0008_user_0016_scene_0001_cfg_0003_104122062823#137", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002927/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.997202095040927, -0.07475280359950395 ], [ -0.07462881220098827, -0.9972113819995586 ], [ 0.0, 0.9999999999333333 ], [ -0.9954711712406255, 0.09506391128508027 ] ] }, { "task_id": "0002928", "id": "RH20T_cfg6_task_0038_user_0014_scene_0002_cfg_0006_104122064161#78", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002928/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.43370737456587677, -0.9010537793312752 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9036914451234521, 0.42818427342755916 ], [ 0.4476709048543041, 0.8941983901500431 ] ] }, { "task_id": "0002929", "id": "RH20T_cfg5_task_0006_user_0010_scene_0004_cfg_0005_104122063678#221", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from the position under the table to the position above the table', and now you are performing subtask 'push the small block from under the table to above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002929/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999988, 0.79999999984 ], [ 0.8143518488133095, 0.5803714899392843 ], [ 0.49208949098681143, -0.8705446185350529 ], [ -0.7183899796379485, -0.6956405948158776 ] ] }, { "task_id": "0002930", "id": "RH20T_cfg7_task_0064_user_0020_scene_0010_cfg_0007_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and place it on the table', and now you are performing subtask 'pick up the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002930/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7721230135446729, -0.6354730930217997 ], [ -0.4238946319945165, -0.9057115108941884 ], [ 0.554700196148306, 0.8320502942224591 ], [ -0.8409487738756416, 0.5411147380334922 ] ] }, { "task_id": "0002931", "id": "RH20T_cfg4_task_0107_user_0007_scene_0017_cfg_0004_104122062823#68", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002931/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10209079358537262, 0.994775085064513 ], [ -0.9999999999615384, 0.0 ], [ 0.9982571403842766, -0.05901424973518437 ], [ -0.13429142051760268, -0.9909418824408243 ] ] }, { "task_id": "0002932", "id": "RH20T_cfg4_task_0083_user_0015_scene_0007_cfg_0004_104122062823#89", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002932/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9620374988739637, 0.2729172965576353 ], [ 0.3456702858470917, -0.9383560376969873 ], [ -0.9390929346498623, -0.3436632946514792 ], [ -0.41905817743247864, 0.907959384437037 ] ] }, { "task_id": "0002934", "id": "RH20T_cfg6_task_0073_user_0020_scene_0007_cfg_0006_104122064161#105", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002934/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9985905125009701, 0.05307530822378667 ], [ 0.0, 0.99999999975 ], [ 0.05771479760150167, -0.9983331118107912 ], [ -0.9999960735145708, 0.002802312516716902 ] ] }, { "task_id": "0002935", "id": "RH20T_cfg6_task_0073_user_0020_scene_0007_cfg_0006_104122064161#334", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002935/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0059224810714985565, 0.9999824619551874 ], [ -0.9999999996666666, 0.0 ], [ 0.9979042048169642, 0.0647085620966997 ], [ -0.11027069569653532, -0.9939015915424435 ] ] }, { "task_id": "0002936", "id": "RH20T_cfg2_task_0075_user_0014_scene_0007_cfg_0002_105422061350#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black knight from the side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002936/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8888373137628302, 0.45822290390472215 ], [ 0.49376518175092277, 0.8695952767181284 ], [ -0.4472135953999579, -0.8944271907999158 ], [ 0.8634665372230791, -0.5044061251570852 ] ] }, { "task_id": "0002937", "id": "RH20T_cfg5_task_0222_user_0010_scene_0006_cfg_0005_104122063678#269", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid from the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002937/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9987502766939561, -0.049978843561513706 ], [ -0.06616395250001532, -0.9978087649392422 ], [ -0.9999575407911828, -0.009215021152989878 ] ] }, { "task_id": "0002938", "id": "RH20T_cfg3_task_0010_user_0011_scene_0005_cfg_0003_104122062823#97", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002938/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09950371901109793, 0.9950371901109792 ], [ 0.9999932821870271, -0.0036654577908945304 ], [ -0.13808344363961544, -0.990420598832953 ], [ -0.9933695473509446, 0.1149649616003911 ] ] }, { "task_id": "0002939", "id": "RH20T_cfg4_task_0091_user_0015_scene_0007_cfg_0004_104122062823#70", "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 wooden block from the light blue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002939/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.985886564622391, 0.16741469965285885 ], [ 0.09049042053248162, -0.9958973259286595 ], [ -0.9748458076754193, -0.22288035188786673 ], [ -0.2675789962348043, 0.963535926042187 ] ] }, { "task_id": "0002940", "id": "RH20T_cfg6_task_0101_user_0014_scene_0002_cfg_0006_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide a cloth 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002940/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28800010110958346, 0.9576303784659662 ], [ 0.9739169306105185, -0.22690485290135676 ], [ -0.04621801962712862, -0.9989313763526233 ], [ -0.9805806754986125, 0.1961161350997225 ] ] }, { "task_id": "0002941", "id": "RH20T_cfg4_task_0009_user_0016_scene_0010_cfg_0004_104122062823#198", "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 stacked Hanoi block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002941/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09822745618343244, -0.9951639899291633 ], [ -0.9942105697260304, -0.10744925800135678 ], [ -0.14404040086020223, 0.9895718078644077 ], [ 0.9805806754986125, 0.1961161350997225 ] ] }, { "task_id": "0002942", "id": "RH20T_cfg4_task_0022_user_0016_scene_0004_cfg_0004_104122062823#118", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002942/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.668964731572726, 0.7432941461919177 ], [ 0.8197005151807725, -0.5727923405671345 ], [ -0.6363009130374933, -0.7714409556587286 ], [ -0.7889686567528771, 0.614433445266093 ] ] }, { "task_id": "0002943", "id": "RH20T_cfg5_task_0102_user_0007_scene_0004_cfg_0005_104122063678#339", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'slide the brush from the table position to clean the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002943/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9981986383123055, -0.05999565377141179 ], [ -0.09293064369878426, -0.9956725844682728 ], [ -0.9960791799009246, 0.08846619336165357 ] ] }, { "task_id": "0002944", "id": "RH20T_cfg7_task_0002_user_0020_scene_0003_cfg_0007_104122064161#99", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002944/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44721359543329126, 0.8944271908665825 ], [ 0.9108738554524015, -0.41268489123455626 ], [ -0.44365988301745723, -0.8961952400012713 ], [ -0.9120313957960311, 0.41012038852310584 ] ] }, { "task_id": "0002945", "id": "RH20T_cfg2_task_0001_user_0002_scene_0007_cfg_0002_104122061850#200", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002945/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3888906194646719, 0.9212839334821723 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9313674729771221, -0.3640805271917325 ], [ -0.5536479240018556, -0.8327508488428191 ] ] }, { "task_id": "0002946", "id": "RH20T_cfg3_task_0022_user_0011_scene_0004_cfg_0003_104122062823#212", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002946/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5428519730071824, 0.8398283964014372 ], [ 0.9020013903818945, -0.43173312561017263 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.6359416052409813, -0.7717371798245333 ] ] }, { "task_id": "0002947", "id": "RH20T_cfg7_task_0045_user_0014_scene_0010_cfg_0007_104122064161#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002947/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.4430761729158028, -0.8964839680631693 ], [ -0.8658363687113605, -0.5003272755074673 ], [ -0.4650441522845091, 0.8852874880093937 ] ] }, { "task_id": "0002948", "id": "RH20T_cfg1_task_0028_user_0001_scene_0008_cfg_0001_039422060546#230", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer handle to make it close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002948/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.527492431072604, -0.8495597301903581 ], [ -0.9358743020044317, -0.3523340614356184 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.4058606501435746, 0.9139349717923234 ] ] }, { "task_id": "0002949", "id": "RH20T_cfg6_task_0061_user_0014_scene_0001_cfg_0006_104122064161#187", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cubes out of the gift box', and now you are performing subtask 'pick up the first block of the gift 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002949/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4305093115840715, -0.9025861358559685 ], [ 0.9191450298973682, 0.3939192985274435 ], [ -0.920766008886374, -0.3901153122853009 ], [ -0.2584170118388208, 0.9660334611142074 ] ] }, { "task_id": "0002950", "id": "RH20T_cfg6_task_0061_user_0014_scene_0001_cfg_0006_104122064161#355", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cubes out of the gift box', and now you are performing subtask 'place the first block on the table on the right side of 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002950/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5910286174311145, -0.8066505893988211 ], [ -0.7296202174634405, -0.683852570565178 ], [ -0.6649666470592799, 0.74687305367026 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0002951", "id": "RH20T_cfg3_task_0041_user_0010_scene_0001_cfg_0003_104122062823#154", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002951/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6974452388600442, -0.7166380807572648 ], [ -0.7407809357075854, -0.6717466823827226 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6990931841456024, 0.7150305726898417 ] ] }, { "task_id": "0002952", "id": "RH20T_cfg4_task_0021_user_0016_scene_0001_cfg_0004_104122062823#108", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002952/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8166389042526077, -0.5771489409685339 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.3405620216069401, -0.9402220532613528 ], [ -0.9217805403863771, 0.38771205212760484 ] ] }, { "task_id": "0002953", "id": "RH20T_cfg7_task_0045_user_0014_scene_0004_cfg_0007_104122064161#70", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002953/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9603662736621906, 0.27874113512755616 ], [ -0.20952908871623932, 0.9778024140091168 ], [ 0.1328871229105139, -0.9911311782829587 ], [ -0.9777770051376375, -0.20964762871082615 ] ] }, { "task_id": "0002954", "id": "RH20T_cfg5_task_0046_user_0007_scene_0006_cfg_0005_104122063678#328", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002954/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.1262076971161822, -0.9920038393013557 ], [ -0.9936812491363199, 0.11223891978668933 ], [ -0.046120145609118875, 0.9989358999300173 ] ] }, { "task_id": "0002955", "id": "RH20T_cfg2_task_0050_user_0013_scene_0009_cfg_0002_105422061350#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002955/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38135385743349853, -0.9244291402917755 ], [ -0.9410560463207747, -0.3382506728494595 ], [ -0.5066360102242298, 0.8621600507702002 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0002956", "id": "RH20T_cfg4_task_0110_user_0015_scene_0002_cfg_0004_104122062823#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the pencil out from the pencil sharpener', and now you are performing subtask 'pick up the pencil from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002956/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, -0.7071067809365474 ], [ -0.6582916645707461, 0.7527629669136736 ], [ 0.7179493832636085, 0.6960953117723206 ], [ 0.5946595597017768, -0.8039776166382301 ] ] }, { "task_id": "0002957", "id": "RH20T_cfg4_task_0013_user_0016_scene_0006_cfg_0004_104122062823#96", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002957/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.03843312209972729, 0.9992611745929095 ], [ 0.9829802735057739, 0.1837111371107207 ], [ -0.008260741867684525, -0.9999658794897931 ], [ -0.9939999159410302, -0.10938083520080209 ] ] }, { "task_id": "0002958", "id": "RH20T_cfg6_task_0011_user_0014_scene_0006_cfg_0006_104122064161#65", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the pink 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002958/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04097786490615161, -0.9991600545396785 ], [ 0.999999999952381, 0.0 ], [ -0.988683559948844, -0.15001606009651264 ], [ 0.10818323512270836, 0.9941309710688954 ] ] }, { "task_id": "0002959", "id": "RH20T_cfg4_task_0014_user_0016_scene_0009_cfg_0004_104122062823#94", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002959/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8841949487715997, -0.4671180713339919 ], [ -0.39365395815313975, -0.9192587020150346 ], [ -0.8872947825262839, 0.46120274164583486 ], [ 0.4472135954749579, 0.8944271909499159 ] ] }, { "task_id": "0002960", "id": "RH20T_cfg6_task_0017_user_0014_scene_0010_cfg_0006_104122064161#97", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002960/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.997260280539007, 0.07397251421481661 ], [ -0.04405722112065967, -0.9990290092220172 ], [ -0.992052092005023, 0.12582784567995103 ] ] }, { "task_id": "0002961", "id": "RH20T_cfg5_task_0119_user_0010_scene_0001_cfg_0005_104122063678#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the faucet switch 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002961/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09487213426899382, 0.9954894666139095 ], [ 0.9276631497692648, -0.3734181042212157 ], [ -0.9701424999100378, 0.24253562497750944 ], [ -0.23019126275615745, -0.9731454066842866 ] ] }, { "task_id": "0002962", "id": "RH20T_cfg4_task_0038_user_0014_scene_0008_cfg_0004_104122062823#100", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002962/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9276397921363793, -0.3734761251340909 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.24686819076718472, -0.969049068100959 ], [ -0.9641770082383472, 0.26525967802240524 ] ] }, { "task_id": "0002963", "id": "RH20T_cfg5_task_0010_user_0010_scene_0010_cfg_0005_104122063678#201", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002963/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.989450645360893, 0.1448703571988156 ], [ 0.1539918059085885, -0.9880721247525464 ], [ -0.2425356250069212, 0.9701425000276848 ], [ -0.9877887554593312, -0.15579914822650895 ] ] }, { "task_id": "0002964", "id": "RH20T_cfg2_task_0074_user_0014_scene_0010_cfg_0002_105422061350#79", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the device horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002964/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12945536540136005, 0.9915852501771093 ], [ 0.9701407387970659, -0.24254267032067445 ], [ -0.9938837345638627, 0.11043152606265141 ], [ -0.09541157091067166, -0.9954379097343832 ] ] }, { "task_id": "0002965", "id": "RH20T_cfg2_task_0002_user_0006_scene_0005_cfg_0002_037522062165#155", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002965/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5736533126968882, -0.8190982095157371 ], [ -0.8594146748101354, 0.511279196448466 ], [ 0.30705458664393265, 0.9516919043581928 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0002966", "id": "RH20T_cfg4_task_0043_user_0014_scene_0010_cfg_0004_036422060909#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrewing the lid from the jar', and now you are performing subtask 'rotate the bottle cap 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002966/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09518404954209277, 0.9954596911541764 ], [ -0.9999999999411765, 0.0 ], [ 0.9978823145809667, -0.06504526305990965 ], [ -0.03033183741472015, -0.9995398839661412 ] ] }, { "task_id": "0002967", "id": "RH20T_cfg4_task_0085_user_0007_scene_0001_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the bubble ring from the assembled bubble ring and ball and place the bubble ring on the table', and now you are performing subtask 'pick up the bubble ring around the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002967/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9400821873448649, -0.3409479154312202 ], [ 0.2576626505520336, 0.966234939570126 ], [ -0.29723749722742276, -0.9548035767852872 ], [ -0.9197836652754501, 0.3924258007476814 ] ] }, { "task_id": "0002968", "id": "RH20T_cfg6_task_0005_user_0014_scene_0006_cfg_0006_104122064161#48", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block a little to the side', and now you are performing subtask 'push the small block a little to the side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002968/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6155927972018513, -0.7880644060184424 ], [ -0.8473293057115573, -0.5310678371756008 ], [ -0.6079413327390174, 0.7939819493839312 ], [ 0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002969", "id": "RH20T_cfg4_task_0043_user_0007_scene_0009_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrew the lid from the jar', and now you are performing subtask 'twist the bottle cap counterclockwise to open it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002969/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9818613229955517, 0.18960048102635416 ], [ 0.1430972429580062, -0.9897086334158238 ], [ -0.9984580864615386, -0.055510805971115205 ], [ -0.0712470499828335, 0.997458699759669 ] ] }, { "task_id": "0002970", "id": "RH20T_cfg4_task_0105_user_0007_scene_0011_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the wooden block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002970/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1195866865059572, 0.9928237630166423 ], [ 0.9915018141487335, 0.13009286121755587 ], [ -0.9999999998, 0.0 ], [ 0.09366334932931353, -0.9956039257618539 ] ] }, { "task_id": "0002971", "id": "RH20T_cfg6_task_0017_user_0014_scene_0006_cfg_0006_104122064161#55", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002971/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5153049419984826, 0.8570068942266102 ], [ 0.7960464221991962, -0.6052355687695984 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.5456830960151094, -0.8379916221081001 ] ] }, { "task_id": "0002972", "id": "RH20T_cfg4_task_0014_user_0007_scene_0006_cfg_0004_104122062823#139", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002972/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9208142446119746, 0.3900014447661427 ], [ 0.5007450685012386, -0.8655948107351903 ], [ -0.4961389382952954, 0.8682431420167669 ], [ -0.8602079472247227, -0.5099434160094909 ] ] }, { "task_id": "0002973", "id": "RH20T_cfg2_task_0013_user_0006_scene_0006_cfg_0002_037522062165#268", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002973/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7738578931011229, 0.6333592671502416 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.6715017421709601, -0.7410029758788864 ], [ -0.5928177199123676, -0.8053366693240173 ] ] }, { "task_id": "0002974", "id": "RH20T_cfg4_task_0019_user_0016_scene_0010_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the first move as black on the 3-4 point in the upper left corner', and now you are performing subtask 'pick up the black stone from the right side of the Go board's stone 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002974/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9827295081578754, 0.18504786893066433 ], [ 0.416030789369667, -0.9093505277374901 ], [ -0.2747211278596422, 0.9615239475087477 ], [ -0.9730246025476853, -0.23070137155404838 ] ] }, { "task_id": "0002976", "id": "RH20T_cfg6_task_0125_user_0014_scene_0003_cfg_0006_104122064161#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pulling the lever', and now you are performing subtask 'pull the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002976/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.4338773787065271, 0.9009719308872796 ], [ 0.8396729976140315, 0.5430923099049246 ], [ 0.49569049001948173, -0.8684992447344131 ] ] }, { "task_id": "0002977", "id": "RH20T_cfg1_task_0009_user_0001_scene_0003_cfg_0001_819112070044#244", "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 on the red wooden rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002977/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9914503642422758, 0.1304843869735331 ], [ 0.0, 0.9999999989999999 ], [ -0.06732043971750178, -0.9977314059386134 ], [ -0.9909317587984428, 0.13436610214122105 ] ] }, { "task_id": "0002979", "id": "RH20T_cfg5_task_0005_user_0010_scene_0005_cfg_0005_104122063678#166", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002979/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9925705964393566, -0.12167009116467299 ], [ -0.1257022387213902, -0.992068015400371 ], [ 0.0, 0.9999999995 ], [ -0.9929905272873929, -0.11819396227179074 ] ] }, { "task_id": "0002980", "id": "RH20T_cfg4_task_0062_user_0015_scene_0009_cfg_0004_104122062823#162", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002980/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06939872728887728, 0.9975890018693491 ], [ 0.9955793808541056, -0.09392388630245106 ], [ 0.13239722843477386, -0.9911967382426107 ], [ -0.9999999995, 0.0 ] ] }, { "task_id": "0002981", "id": "RH20T_cfg3_task_0047_user_0010_scene_0001_cfg_0003_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack and place it on the table', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002981/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999997, 0.79999999996 ], [ 0.8756085302812268, -0.48302142985456653 ], [ -0.522382228333048, -0.8527114444651247 ], [ -0.8269398975892461, 0.5622903216089418 ] ] }, { "task_id": "0002983", "id": "RH20T_cfg3_task_0084_user_0010_scene_0002_cfg_0003_104122062823#260", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the bubble ring in just the right position to fit around the soccer ball', and now you are performing subtask 'turn bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002983/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.02381214022900319, 0.9997164507887796 ], [ 0.9950823149156997, 0.09905143382108308 ], [ -0.9922778766521293, -0.12403473458151616 ], [ 0.23392355360364148, -0.972254992823099 ] ] }, { "task_id": "0002985", "id": "RH20T_cfg4_task_0111_user_0007_scene_0007_cfg_0004_104122062823#152", "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 red shape 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002985/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7253099156557333, -0.6884224910993779 ], [ -0.7196779920996957, -0.6943079919512307 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6476843963053265, 0.7619087365180982 ] ] }, { "task_id": "0002986", "id": "RH20T_cfg4_task_0105_user_0007_scene_0017_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the block from the desk', and now you are performing subtask 'pick up the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002986/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9095852087573294, 0.4155174460956912 ], [ 0.17870498974483745, -0.9839027018157321 ], [ -0.9151021217100589, -0.4032221556930478 ], [ -0.2799999999888, 0.9599999999616 ] ] }, { "task_id": "0002987", "id": "RH20T_cfg5_task_0044_user_0007_scene_0006_cfg_0005_104122063678#303", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'moving the bag from under the table to above the table', and now you are performing subtask 'pick up the bag under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002987/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810865475, 0.7071067810865475 ], [ 0.6610235706882511, 0.7503651371129624 ], [ 0.7433263445575485, -0.6689289539904165 ], [ -0.6309792083255382, -0.7757997413384959 ] ] }, { "task_id": "0002988", "id": "RH20T_cfg6_task_0210_user_0014_scene_0010_cfg_0006_104122064161#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife on the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002988/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, 0.7071067810198809 ], [ 0.6416523038711601, -0.7669956459699314 ], [ -0.6580719768012662, -0.7529550274411306 ], [ -0.6169346864537558, 0.7870143535223523 ] ] }, { "task_id": "0002989", "id": "RH20T_cfg4_task_0059_user_0016_scene_0009_cfg_0004_104122062823#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise on the speaker to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002989/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.013967437045130116, -0.9999024505932518 ], [ 0.9999999989999999, 0.0 ], [ -0.9897907286424684, -0.1425282901511538 ], [ -0.09155108964652331, 0.9958003805906755 ] ] }, { "task_id": "0002990", "id": "RH20T_cfg2_task_0001_user_0006_scene_0001_cfg_0002_037522062165#122", "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 control box 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002990/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9737092064752383, 0.22779460315240532 ], [ -0.24253562497750944, 0.9701424999100378 ], [ 0.14399861688705676, -0.989577888968127 ], [ -0.9922196871628242, -0.1244993670927986 ] ] }, { "task_id": "0002991", "id": "RH20T_cfg6_task_0004_user_0014_scene_0004_cfg_0006_104122064161#36", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the large block from under the table and place it on top of the table', and now you are performing subtask 'pick up the large wooden block under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002991/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5733963460408381, 0.8192781153839125 ], [ 0.8398441382429125, -0.5428276185484853 ], [ -0.5878172048258731, -0.8089937785364593 ], [ -0.79999999984, 0.59999999988 ] ] }, { "task_id": "0002992", "id": "RH20T_cfg1_task_0004_user_0004_scene_0006_cfg_0001_039422060546#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the square on the desk forward', 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002992/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9905170686450999, 0.13738972568106578 ], [ -0.06113683917216798, -0.998129393864361 ], [ -0.9969551445084824, 0.0779771751095863 ] ] }, { "task_id": "0002993", "id": "RH20T_cfg4_task_0072_user_0007_scene_0008_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up a coin on the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002993/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8270670160923189, -0.5621033275939111 ], [ -0.4341380935309784, -0.9008463330364883 ], [ -0.9314791307439465, 0.36379476217848694 ] ] }, { "task_id": "0002995", "id": "RH20T_cfg5_task_0045_user_0010_scene_0007_cfg_0005_104122063678#322", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002995/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9922692654787862, 0.12410360504912905 ], [ 0.06371806358362651, -0.9979679395517438 ], [ 0.0, 0.9999999989999999 ], [ -0.9998770956047153, -0.015677808682311983 ] ] }, { "task_id": "0002996", "id": "RH20T_cfg2_task_0013_user_0006_scene_0010_cfg_0002_037522062165#245", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the football on the scale', and now you are performing subtask 'pick up the football from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002996/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991694242169187, -0.04074876329450162 ], [ 0.14204125454908378, -0.9898607386931368 ], [ 0.0, 0.9999999996666666 ], [ -0.9897406595292725, -0.14287556430181028 ] ] }, { "task_id": "0002997", "id": "RH20T_cfg2_task_0002_user_0006_scene_0008_cfg_0002_037522062165#218", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin out of the napkin holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002997/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7870350915950901, -0.6169082302886776 ], [ -0.7860554411072428, -0.6181560025638335 ], [ -0.7460383743447445, 0.6659029538942224 ] ] }, { "task_id": "0002998", "id": "RH20T_cfg4_task_0126_user_0014_scene_0001_cfg_0004_038522062288#142", "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 cord 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002998/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6951930223368327, 0.7188231087647226 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7545414350009141, -0.6562524078940674 ], [ -0.7820999250771211, -0.6231530367368531 ] ] }, { "task_id": "0002999", "id": "RH20T_cfg6_task_0038_user_0014_scene_0003_cfg_0006_104122064161#93", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0002999/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999405336926259, -0.010905460948828796 ], [ 0.13216372008228433, 0.9912279006171324 ], [ -0.19734475993113415, -0.9803341500364675 ], [ -0.9973906511602919, 0.07219341367499556 ] ] }, { "task_id": "0003000", "id": "RH20T_cfg2_task_0001_user_0002_scene_0006_cfg_0002_104122061850#182", "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 of the fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003000/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8693402457939716, 0.49421405994050516 ], [ 0.32633334468992553, -0.9452547530393519 ], [ -0.8557322849984295, -0.517418840410133 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003001", "id": "RH20T_cfg5_task_0055_user_0007_scene_0009_cfg_0005_104122063678#221", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003001/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6755898765855266, -0.7372776401432184 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6785001677918676, -0.7346002466011072 ], [ -0.7280510017409031, 0.6855229674227316 ] ] }, { "task_id": "0003002", "id": "RH20T_cfg3_task_0006_user_0016_scene_0006_cfg_0003_104122062823#154", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003002/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4835082441404078, -0.8753398070739499 ], [ -0.8732917200152064, 0.48719767215462184 ], [ 0.9103664773872623, -0.41380294426693737 ], [ 0.5310896546742973, 0.8473156310950104 ] ] }, { "task_id": "0003003", "id": "RH20T_cfg3_task_0004_user_0016_scene_0010_cfg_0003_104122062823#219", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003003/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1534713963340804, -0.9881530906227374 ], [ -0.9733257028456606, -0.2294277144984908 ], [ -0.14656740683313257, 0.9892006850251425 ], [ 0.9701424999100378, 0.24253562497750944 ] ] }, { "task_id": "0003004", "id": "RH20T_cfg6_task_0016_user_0014_scene_0002_cfg_0006_104122064161#96", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003004/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6414977396179511, -0.7671249246798459 ], [ -0.7683863527105929, 0.6399862599838471 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.6978418382199053, 0.7162518892330152 ] ] }, { "task_id": "0003005", "id": "RH20T_cfg4_task_0064_user_0007_scene_0008_cfg_0004_104122062823#173", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003005/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.15342892818403053, -0.9881596854741138 ], [ -0.9966140976871838, -0.0822212885520566 ], [ 0.9999999998888889, 0.0 ], [ -0.09380680993003102, 0.9955904190030914 ] ] }, { "task_id": "0003006", "id": "RH20T_cfg6_task_0038_user_0020_scene_0009_cfg_0006_104122064161#185", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003006/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, 0.7071067810198809 ], [ 0.7757115366534139, 0.6310876420140071 ], [ 0.6457879583917808, -0.7635168058374194 ], [ -0.6697359499969805, -0.7425993248594037 ] ] }, { "task_id": "0003007", "id": "RH20T_cfg2_task_0215_user_0007_scene_0009_cfg_0002_105422061350#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the knife from the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003007/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9640261350553055, -0.26580746966616653 ], [ -0.2936296893522707, -0.9559192463440043 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.959134265432898, 0.28295134011432954 ] ] }, { "task_id": "0003008", "id": "RH20T_cfg7_task_0045_user_0014_scene_0003_cfg_0007_104122064161#74", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003008/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9576210695713543, -0.2880310523416104 ], [ -0.13626193518203822, -0.9906728445962603 ], [ -0.9569802442606149, 0.29015308389692135 ], [ 0.25766265054373483, 0.9662349395390056 ] ] }, { "task_id": "0003009", "id": "RH20T_cfg4_task_0071_user_0007_scene_0007_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the window to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003009/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9683230711461498, -0.24970068058795591 ], [ -0.17016332629261963, -0.9854158728095623 ], [ 0.12403473457382384, 0.9922778765905907 ], [ -0.9961578949581814, 0.08757538645352964 ] ] }, { "task_id": "0003010", "id": "RH20T_cfg4_task_0010_user_0010_scene_0009_cfg_0004_104122062823#139", "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 surface of the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003010/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9110854700677624, 0.41221749869626423 ], [ -0.31622776599683794, 0.9486832979905138 ], [ 0.21685380623925912, -0.9762040907103113 ], [ -0.9423161283498441, -0.3347242361284286 ] ] }, { "task_id": "0003011", "id": "RH20T_cfg7_task_0022_user_0020_scene_0002_cfg_0007_104122064161#121", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003011/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9918722101147994, -0.12723803991724772 ], [ 0.10423542110210408, -0.9945526516920394 ], [ 0.0, 0.99999999975 ], [ -0.9958058604675909, -0.09149146549488077 ] ] }, { "task_id": "0003012", "id": "RH20T_cfg2_task_0073_user_0014_scene_0004_cfg_0002_105422061350#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer and close the drawer', and now you are performing subtask 'pick up the wooden block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003012/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999559375274863, -0.009387385340223929 ], [ 0.0, -0.99999999975 ], [ -0.11986275526754336, 0.9927904712977825 ], [ 0.9989610111307858, -0.04557299902966655 ] ] }, { "task_id": "0003013", "id": "RH20T_cfg2_task_0073_user_0014_scene_0004_cfg_0002_105422061350#351", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer and close the drawer', and now you are performing subtask 'place the wooden block in 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003013/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7592566022829437, -0.6507913733853803 ], [ -0.5476087465380213, 0.836734522244097 ], [ 0.8033120100565655, 0.5955584056151677 ], [ 0.6324606457133167, -0.7745924939114079 ] ] }, { "task_id": "0003014", "id": "RH20T_cfg6_task_0094_user_0020_scene_0010_cfg_0006_104122064161#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid of the blue box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003014/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6722865738576719, -0.7402909986017074 ], [ -0.7584664984061877, 0.6517120305744374 ], [ 0.782690363875772, 0.6224112742359443 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0003015", "id": "RH20T_cfg3_task_0046_user_0010_scene_0008_cfg_0003_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the transparent cup to the cup rack', and now you are performing subtask 'pick up the transparent 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003015/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9935206393929498, 0.11365183280626999 ], [ 0.0, -0.9999999999444444 ], [ -0.04005714384479121, 0.9991973905225121 ], [ 0.9992230977014134, -0.039410671397373025 ] ] }, { "task_id": "0003016", "id": "RH20T_cfg2_task_0054_user_0007_scene_0005_cfg_0002_105422061350#510", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'push the cart to the left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003016/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13563345045495317, -0.9907590863159842 ], [ -0.9999572230477061, 0.009249436454196864 ], [ 0.9999999995, 0.0 ], [ 0.02447296155820719, 0.9997004922238313 ] ] }, { "task_id": "0003017", "id": "RH20T_cfg2_task_0045_user_0007_scene_0007_cfg_0002_037522062165#492", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the brush and put it down on the desk', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003017/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5627895603337598, -0.8266002121820035 ], [ -0.8363467824971872, 0.5482007473604926 ], [ 0.7592566022829437, -0.6507913733853803 ], [ 0.7321799172300733, 0.6811112749066507 ] ] }, { "task_id": "0003018", "id": "RH20T_cfg1_task_0007_user_0004_scene_0009_cfg_0001_039422060546#202", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'slide a small block to the right 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003018/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8344079324339241, -0.5511473507977193 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.480742323781397, -0.8768619150842751 ], [ -0.825008777727457, 0.5651199135339751 ] ] }, { "task_id": "0003019", "id": "RH20T_cfg4_task_0010_user_0016_scene_0008_cfg_0004_104122062823#104", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003019/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11043152606265141, 0.9938837345638627 ], [ 0.997344032100351, -0.07283461837487709 ], [ -0.08323671874754406, -0.9965298031931319 ], [ -0.9953947272881893, 0.09586102903094221 ] ] }, { "task_id": "0003020", "id": "RH20T_cfg4_task_0120_user_0007_scene_0003_cfg_0004_104122062823#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing the light bulb by rotating it', and now you are performing subtask 'twist the light bulb clockwise to install'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003020/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8313633230119721, 0.5557292732531653 ], [ 0.6805948590190174, -0.7326599742560554 ], [ -0.59999999994, 0.79999999992 ], [ -0.7274009047067076, -0.6862127394852586 ] ] }, { "task_id": "0003021", "id": "RH20T_cfg5_task_0074_user_0007_scene_0006_cfg_0005_104122063678#337", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the machine'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003021/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12728131978364698, 0.9918666571843884 ], [ 0.999677102383356, -0.025410450023902013 ], [ 0.1274705720941816, -0.9918423530228895 ], [ -0.99999999975, 0.0 ] ] }, { "task_id": "0003022", "id": "RH20T_cfg3_task_0077_user_0010_scene_0007_cfg_0003_104122062823#163", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the small Lego block 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003022/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.03798136417306951, -0.9992784476688931 ], [ -0.99832694639325, 0.05782134644859846 ], [ 0.09934772078306092, 0.99505277768328 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0003023", "id": "RH20T_cfg2_task_0001_user_0007_scene_0004_cfg_0002_037522062165#111", "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 in the middle of the table 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003023/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9445999972647121, 0.32822377300784583 ], [ -0.31622776591683793, 0.9486832977505137 ], [ 0.2618123579030176, -0.9651187954077272 ], [ -0.9662111868825913, -0.2577517067701671 ] ] }, { "task_id": "0003024", "id": "RH20T_cfg4_task_0122_user_0007_scene_0004_cfg_0004_104122062823#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003024/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8542798718276835, -0.5198133324474055 ], [ -0.5216196960929663, -0.853178113085352 ], [ 0.4472135954666246, 0.8944271909332492 ], [ -0.8205422481859382, 0.5715858806355928 ] ] }, { "task_id": "0003025", "id": "RH20T_cfg5_task_0050_user_0007_scene_0001_cfg_0005_104122063678#253", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the white plate on the dish rack', and now you are performing subtask 'pick up the white plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003025/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05607010570084862, 0.9984268341980276 ], [ -0.9999999989999999, 0.0 ], [ 0.9936864104213236, 0.11219321612283387 ], [ 0.11659620943701561, -0.9931794016918191 ] ] }, { "task_id": "0003026", "id": "RH20T_cfg4_task_0078_user_0015_scene_0004_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the position of closing the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003026/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999473684, 0.0 ], [ 0.1068309242579491, 0.9942772016003346 ], [ 0.9996322336453352, -0.02711821264829768 ], [ -0.05334914714025506, -0.9985759202481339 ] ] }, { "task_id": "0003027", "id": "RH20T_cfg6_task_0103_user_0014_scene_0004_cfg_0006_104122064161#107", "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 to the goal post'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003027/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7197016419023091, -0.6942834771497305 ], [ -0.49297816563298236, -0.8700416818803223 ], [ 0.59999999988, 0.79999999984 ], [ -0.8132363974114706, 0.5819334686415731 ] ] }, { "task_id": "0003028", "id": "RH20T_cfg4_task_0046_user_0014_scene_0007_cfg_0004_104122062823#323", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003028/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.43192466262951773, -0.9019096882794737 ], [ -0.876115077835219, 0.4821020331732572 ], [ 0.3639183151124028, 0.9314308669599425 ], [ 0.9284766907128456, -0.3713906762851382 ] ] }, { "task_id": "0003029", "id": "RH20T_cfg4_task_0035_user_0016_scene_0010_cfg_0004_104122062823#89", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block', and now you are performing subtask 'pick up the cube off the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003029/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.93632917751425, 0.35112344156784375 ], [ 0.4203079219599305, -0.9073815353740261 ], [ -0.9588562030807167, -0.28389220104404295 ], [ -0.39884628317584386, 0.9170177982988197 ] ] }, { "task_id": "0003030", "id": "RH20T_cfg2_task_0085_user_0007_scene_0006_cfg_0002_037522062165#359", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the bubble ring to the left side of the block', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003030/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8410853076308576, 0.5409024914783677 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5193122120328005, -0.8545845929067524 ], [ -0.9297386990504268, -0.36821997703549425 ] ] }, { "task_id": "0003031", "id": "RH20T_cfg3_task_0017_user_0010_scene_0003_cfg_0003_104422070011#125", "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 on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003031/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12403473457382384, 0.9922778765905907 ], [ 0.9995931992336019, 0.02852080023303466 ], [ -0.018942698985627615, -0.9998205709801834 ], [ -0.99969448418765, 0.024717165791989352 ] ] }, { "task_id": "0003032", "id": "RH20T_cfg5_task_0009_user_0010_scene_0004_cfg_0005_104122063678#478", "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 red base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003032/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271907999158, 0.4472135953999579 ], [ 0.49088273012676525, 0.871225656912888 ], [ 0.9502288094466477, -0.3115529003196832 ], [ -0.3854219346763541, -0.9227404468594277 ] ] }, { "task_id": "0003033", "id": "RH20T_cfg6_task_0084_user_0007_scene_0005_cfg_0006_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003033/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49279225114709124, -0.8701469974719112 ], [ -0.9096544159826586, -0.4153659151678774 ], [ -0.5174324667422602, 0.8557240456835485 ], [ 0.8944271908665825, 0.44721359543329126 ] ] }, { "task_id": "0003034", "id": "RH20T_cfg3_task_0001_user_0016_scene_0003_cfg_0003_104122062823#115", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003034/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9301504350912239, 0.3671786596462369 ], [ 0.18577977587541908, -0.982591407898359 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9470987644034499, -0.3209422540979277 ] ] }, { "task_id": "0003035", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#204", "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 first block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003035/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6089282238941203, 0.7932253262126419 ], [ -0.7071067810615475, 0.7071067810615475 ], [ 0.7272841063775867, -0.686336527230305 ], [ -0.782347887905526, -0.6228416992220115 ] ] }, { "task_id": "0003036", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#345", "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 'place the first block on the second block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003036/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09513370660073142, 0.9954645035702709 ], [ -0.9999999995, 0.0 ], [ 0.9997756346116182, 0.021182078201540222 ], [ -0.08715003588489535, -0.9961951973610702 ] ] }, { "task_id": "0003037", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#493", "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 'place the third block on the first block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003037/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2425356250069212, 0.9701425000276848 ], [ 0.9755953313831075, 0.21957629513106527 ], [ 0.20485786466400985, -0.9787917323339539 ], [ -0.9674515543669419, -0.2530562979911549 ] ] }, { "task_id": "0003038", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#661", "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 'place the fourth block on the third block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003038/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998735165246626, 0.015904431854210057 ], [ -0.1307157604864128, -0.9914198858003903 ], [ -0.9980569228939913, 0.06230873665367923 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0003039", "id": "RH20T_cfg3_task_0013_user_0011_scene_0007_cfg_0003_104122062823#144", "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 large 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003039/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9738969149102509, 0.22699074679003003 ], [ -0.37139067631962097, 0.9284766907990525 ], [ 0.36037532193943533, -0.93280739026717 ], [ -0.9298317559706888, -0.36798492576254455 ] ] }, { "task_id": "0003040", "id": "RH20T_cfg4_task_0010_user_0016_scene_0002_cfg_0004_104122062823#177", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003040/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9492734873072335, -0.3144516597118922 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.5365836101153887, -0.8438471599499145 ], [ -0.9065764074080013, 0.42204172486994906 ] ] }, { "task_id": "0003041", "id": "RH20T_cfg5_task_0041_user_0007_scene_0004_cfg_0005_104122063678#269", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003041/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9988121763698502, -0.04872613605985398 ], [ -0.035772805178211346, 0.9993599483717975 ], [ 0.9895627246379181, 0.1441027897272645 ], [ 0.0, -0.9999999998333333 ] ] }, { "task_id": "0003042", "id": "RH20T_cfg2_task_0042_user_0007_scene_0003_cfg_0002_037522062165#296", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar (needs to be turned)', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003042/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9915027114173499, 0.13008602250835216 ], [ -0.1414213562173095, 0.9899494935211665 ], [ 0.055493599731817715, -0.9984590429200413 ], [ -0.9989626402977804, -0.04553727362598326 ] ] }, { "task_id": "0003043", "id": "RH20T_cfg3_task_0005_user_0016_scene_0005_cfg_0003_104122062823#163", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block to the right', and now you are performing subtask 'push the small block to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003043/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7273039045596585, -0.6863155472610797 ], [ 0.7071067810615475, 0.7071067810615475 ], [ -0.7427811259332335, -0.6695343149961456 ], [ -0.6028370295293102, 0.7978643467584434 ] ] }, { "task_id": "0003044", "id": "RH20T_cfg3_task_0028_user_0010_scene_0006_cfg_0003_038522062288#280", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003044/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5423208283967745, -0.840171481952962 ], [ 0.9138115485274737, 0.40613846601221054 ], [ -0.9609514392966906, -0.27671706003356356 ], [ -0.4137089734792149, 0.9104091856208253 ] ] }, { "task_id": "0003045", "id": "RH20T_cfg7_task_0005_user_0020_scene_0001_cfg_0007_104122064161#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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003045/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9247279058413259, -0.3806288220278594 ], [ -0.4252985658695847, -0.9050531088666977 ], [ -0.8250655476114783, 0.565037027233235 ], [ 0.4472135954499579, 0.8944271908999158 ] ] }, { "task_id": "0003046", "id": "RH20T_cfg6_task_0054_user_0014_scene_0001_cfg_0006_104122063633#103", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003046/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9996887834816653, -0.024946666730208743 ], [ 0.031151918113689878, -0.9995146612220542 ], [ -0.9885238127156687, 0.1510651240163584 ] ] }, { "task_id": "0003047", "id": "RH20T_cfg2_task_0015_user_0003_scene_0005_cfg_0002_037522062165#181", "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 cup'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003047/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.00692473875640957, -0.9999760237091465 ], [ -0.9936003861695333, 0.11295252367147142 ], [ 0.028648481774846506, 0.9995895480105803 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003048", "id": "RH20T_cfg6_task_0080_user_0020_scene_0006_cfg_0006_104122064161#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the paper with the back side up on the table', and now you are performing subtask 'pick up the paper on the table with the front side facing up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003048/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.8986926291429442, 0.4385790217556497 ], [ 0.42839409960297237, -0.9035919961051883 ], [ -0.9289569207480274, -0.37018784339081584 ] ] }, { "task_id": "0003049", "id": "RH20T_cfg6_task_0129_user_0014_scene_0002_cfg_0006_104122064161#49", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the lamp holder and the light bulb 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003049/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7649111980862566, 0.6441357457568477 ], [ 0.6215197063522268, -0.7833985286020405 ], [ -0.842058977601104, -0.5393854635058154 ], [ -0.5524577515489848, 0.8335409004682615 ] ] }, { "task_id": "0003050", "id": "RH20T_cfg7_task_0066_user_0014_scene_0001_cfg_0007_104122064161#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the large light blue Megablok from the table into the grid', and now you are performing subtask 'pick up the large light blue Megablok 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003050/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6544635315901162, 0.7560935694863388 ], [ 0.7967053012023758, -0.6043679864420612 ], [ -0.6654664257535465, -0.7464277836434009 ], [ -0.7071067811032142, 0.7071067811032142 ] ] }, { "task_id": "0003051", "id": "RH20T_cfg4_task_0075_user_0007_scene_0001_cfg_0004_104122062823#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black piece on the left side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003051/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.35937960169990574, 0.9331914604635092 ], [ -0.9138115485274737, 0.40613846601221054 ], [ 0.88792427094765, -0.4599896619078351 ], [ -0.41284198453137916, -0.9108026656791209 ] ] }, { "task_id": "0003052", "id": "RH20T_cfg6_task_0038_user_0020_scene_0005_cfg_0006_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the cup and place it in the middle of the table', and now you are performing subtask 'transfer the cup from above the table to the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003052/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9230863081959182, 0.38459285955570005 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5682905326083353, -0.8228279714179233 ], [ -0.8738127568005283, -0.4862625484783513 ] ] }, { "task_id": "0003053", "id": "RH20T_cfg5_task_0002_user_0014_scene_0006_cfg_0005_104122063678#228", "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 tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003053/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3713906762851382, 0.9284766907128456 ], [ 0.8877456906242409, 0.4603342142162471 ], [ 0.4914563978987132, -0.8709021810538896 ], [ -0.9689199270236345, -0.2473745642068218 ] ] }, { "task_id": "0003054", "id": "RH20T_cfg6_task_0026_user_0014_scene_0009_cfg_0006_104122064161#25", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer closed', and now you are performing subtask 'push the drawer handle to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003054/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.14682176903487534, -0.9891629633874642 ], [ 0.9999999989999999, 0.0 ], [ -0.9913898762110902, 0.13094316838292558 ], [ 0.0052974739007313155, 0.9999859682866911 ] ] }, { "task_id": "0003055", "id": "RH20T_cfg5_task_0100_user_0007_scene_0007_cfg_0005_104122063678#169", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'stir the beaker with a glass rod'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003055/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776596683794, 0.9486832979005138 ], [ 0.9364225285292436, 0.35087440496978106 ], [ 0.16548829347400085, -0.986211754504611 ], [ -0.9153558913577654, -0.40264574026882577 ] ] }, { "task_id": "0003056", "id": "RH20T_cfg4_task_0015_user_0016_scene_0007_cfg_0004_104122062823#113", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003056/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9746012229005303, 0.22394744097843755 ], [ 0.058373110263498444, -0.9982948362073027 ], [ -0.9890841024108766, -0.14735208976485742 ], [ -0.19611613511895326, 0.9805806755947664 ] ] }, { "task_id": "0003057", "id": "RH20T_cfg6_task_0001_user_0020_scene_0007_cfg_0006_104122064161#107", "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 red 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003057/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8635556450746174, 0.5042535551285301 ], [ 0.5049907844869435, -0.8631247346607913 ], [ -0.9125542916957742, -0.408955577914795 ], [ -0.41380294426693737, 0.9103664773872623 ] ] }, { "task_id": "0003058", "id": "RH20T_cfg3_task_0043_user_0010_scene_0010_cfg_0003_104122062823#144", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003058/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.470588235266436, 0.8823529411245675 ], [ 0.9220220005085044, -0.3871374827865363 ], [ -0.48373141602345276, -0.8752164973033503 ], [ -0.8587235249815404, 0.5124391745790693 ] ] }, { "task_id": "0003059", "id": "RH20T_cfg2_task_0035_user_0007_scene_0003_cfg_0002_037522062165#223", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003059/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, -0.7071067806865474 ], [ -0.7893122479626326, -0.6139919993095805 ], [ -0.6155874111456449, 0.7880686132812313 ], [ 0.7782312583549256, 0.6279777930144578 ] ] }, { "task_id": "0003060", "id": "RH20T_cfg6_task_0028_user_0014_scene_0005_cfg_0006_104122064161#59", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close', and now you are performing subtask 'push the drawer to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003060/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6385205291471335, 0.7696047906930314 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6302265049787555, 0.7764113294010222 ], [ 0.7935368169109029, -0.6085222429845207 ] ] }, { "task_id": "0003061", "id": "RH20T_cfg2_task_0083_user_0014_scene_0005_cfg_0002_105422061350#-14", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003061/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6571110873976891, -0.7537937508490148 ], [ -0.6348537048182897, -0.7726323663156314 ], [ 0.7071067810198809, 0.7071067810198809 ], [ -0.6230156182908818, 0.7822093961118278 ] ] }, { "task_id": "0003062", "id": "RH20T_cfg3_task_0028_user_0010_scene_0010_cfg_0003_104122062823#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle of the drawer 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003062/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6063447687934755, 0.7952018745933556 ], [ 0.7175515630153491, -0.6965053872112041 ], [ -0.6281050250543966, -0.7781285738882849 ], [ -0.7071067811602317, 0.7071067811602317 ] ] }, { "task_id": "0003063", "id": "RH20T_cfg3_task_0022_user_0011_scene_0009_cfg_0003_038522062288#139", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003063/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9755861953598505, 0.2196168832838035 ], [ 0.25074628604317073, -0.9680528394853023 ], [ -0.16439898727833027, 0.9863939236699816 ], [ -0.9673109121293263, -0.2535933738793877 ] ] }, { "task_id": "0003064", "id": "RH20T_cfg2_task_0016_user_0006_scene_0008_cfg_0002_037522062165#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue on the pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003064/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9935043380344023, 0.1137942454908157 ], [ -0.017410734350264977, 0.9998484216766983 ], [ 0.9934609329679112, 0.11417256529713074 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0003065", "id": "RH20T_cfg5_task_0041_user_0007_scene_0008_cfg_0005_104122063678#302", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the sponge', and now you are performing subtask 'press the sponge on 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003065/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.6608447340908434, 0.7505226428459054 ], [ 0.7019999978376111, -0.7121769464367644 ], [ -0.7837962344308598, -0.6210180858010536 ] ] }, { "task_id": "0003066", "id": "RH20T_cfg4_task_0217_user_0010_scene_0005_cfg_0004_104122062823#156", "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 on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003066/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9805806754986125, -0.1961161350997225 ], [ -0.08266265843616631, -0.9965775859913094 ], [ -0.9962043179533474, 0.08704571724735186 ], [ 0.3126946300426048, 0.9498537089165461 ] ] }, { "task_id": "0003067", "id": "RH20T_cfg7_task_0051_user_0020_scene_0005_cfg_0007_104122064161#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take a dish off the dish rack', and now you are performing subtask 'pick up the plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003067/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7094940859734554, -0.7047113891294017 ], [ -0.6985870117480771, -0.7155251127786445 ], [ -0.738933458312063, 0.6737784088162624 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003068", "id": "RH20T_cfg4_task_0124_user_0010_scene_0010_cfg_0004_104122062823#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003068/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.005000735181836517, 0.9999874962456486 ], [ -0.9999999989999999, 0.0 ], [ 0.9964515189347124, 0.0841687020970647 ], [ -0.11472029563294492, -0.9933978325776083 ] ] }, { "task_id": "0003069", "id": "RH20T_cfg1_task_0006_user_0004_scene_0006_cfg_0001_039422060546#168", "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 'push the small block to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003069/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7538635890674122, 0.6570309650833815 ], [ 0.6200420742477816, -0.7845685605238771 ], [ -0.7729618584742277, -0.6344524925824375 ] ] }, { "task_id": "0003070", "id": "RH20T_cfg6_task_0010_user_0014_scene_0008_cfg_0006_104122064161#52", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003070/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4740998230029074, 0.8804710998625422 ], [ 0.9056097800376381, 0.42411192661864733 ], [ 0.4732752032653172, -0.8809146280850221 ], [ -0.9221422678051004, -0.38685092468193283 ] ] }, { "task_id": "0003071", "id": "RH20T_cfg6_task_0101_user_0014_scene_0005_cfg_0006_104122064161#73", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the table to clean 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003071/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1566500152322868, -0.9876541766872271 ], [ 0.9922778766521293, 0.12403473458151616 ], [ -0.99701378109548, -0.07722383249809822 ], [ -0.15009348012227566, 0.9886718096642506 ] ] }, { "task_id": "0003072", "id": "RH20T_cfg6_task_0064_user_0007_scene_0009_cfg_0006_104122063633#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and place it on the table', 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003072/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.17888543818398317, 0.9838699100119074 ], [ 0.9889114491094987, 0.1485063830956486 ], [ 0.0408810688857185, -0.9991640196718261 ], [ -0.9821461353075661, -0.18811956012178035 ] ] }, { "task_id": "0003073", "id": "RH20T_cfg4_task_0063_user_0015_scene_0001_cfg_0004_104122062823#170", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the box with a shovel', and now you are performing subtask 'pick up the orange shovel on the left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003073/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06114696424048517, -0.9981287736380375 ], [ -0.9886719368099578, 0.15009264260598162 ], [ 0.9999999989999999, 0.0 ], [ -0.09648204550904982, 0.9953347250520248 ] ] }, { "task_id": "0003074", "id": "RH20T_cfg2_task_0017_user_0003_scene_0009_cfg_0002_037522062165#158", "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 surface near the cup'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003074/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2520638848716881, -0.9677105961719095 ], [ 0.9486832977505137, -0.31622776591683793 ], [ -0.9459601285626663, 0.32428295541040053 ], [ 0.3112268962978253, 0.9503356349315871 ] ] }, { "task_id": "0003075", "id": "RH20T_cfg1_task_0004_user_0004_scene_0010_cfg_0001_039422060546#251", "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 piece on the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003075/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08033523368314223, 0.9967679018854264 ], [ -0.9743911956215862, 0.2248595066819045 ], [ 0.9762703865919465, -0.2165551483193398 ], [ -0.07033816920109234, -0.997523203716805 ] ] }, { "task_id": "0003076", "id": "RH20T_cfg3_task_0047_user_0010_scene_0010_cfg_0003_104122062823#226", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003076/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2248595066819045, 0.9743911956215862 ], [ 0.9774147043331608, 0.21133030013067197 ], [ 0.16440530747758256, -0.986392870449296 ], [ -0.9895697138044702, -0.14405478652560916 ] ] }, { "task_id": "0003077", "id": "RH20T_cfg2_task_0007_user_0013_scene_0003_cfg_0002_105422061350#298", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'slide a small block from the left side to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003077/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4034762787918548, 0.9149901051116769 ], [ 0.8168663869789266, -0.5768269288304722 ], [ -0.31047565750045036, -0.9505813306075725 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0003078", "id": "RH20T_cfg7_task_0033_user_0014_scene_0010_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the square in the upper right corner of the cardboard to the target position on the cardboard', and now you are performing subtask 'pick up the block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003078/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9925937468301879, 0.12148108393329746 ], [ 0.0, 0.9999999989999999 ], [ -0.0523124400659613, -0.9986307669075419 ], [ -0.9999402653628953, -0.010930036870144351 ] ] }, { "task_id": "0003079", "id": "RH20T_cfg4_task_0015_user_0010_scene_0006_cfg_0004_104122062823#114", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003079/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8384867302723702, -0.5449220156656817 ], [ -0.5538030974733256, -0.8326476621170267 ], [ 0.4280863447186827, 0.9037378388505523 ], [ -0.875700563860248, 0.48285455621216206 ] ] }, { "task_id": "0003080", "id": "RH20T_cfg5_task_0051_user_0007_scene_0008_cfg_0005_104122063678#197", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003080/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9866840779998913, 0.162648486686795 ], [ -0.16439898727833027, 0.9863939236699816 ], [ 0.049514446134967874, -0.9987734075474515 ], [ -0.9911015760550945, -0.1331077230708554 ] ] }, { "task_id": "0003081", "id": "RH20T_cfg4_task_0119_user_0007_scene_0010_cfg_0004_104122062823#68", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the handle of the water tap clockwise to turn off 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003081/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.876685631392174, 0.4810637210500343 ], [ -0.4472135954599579, 0.8944271909199158 ], [ 0.5205408019162185, -0.8538367956116791 ], [ -0.9254750250834618, -0.3788086297152769 ] ] }, { "task_id": "0003082", "id": "RH20T_cfg2_task_0013_user_0003_scene_0005_cfg_0002_037522062165#145", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003082/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9886544170560606, 0.1502080012367549 ], [ -0.11827290184608319, -0.9929811280628181 ], [ -0.9922927849694545, 0.12391541025055801 ] ] }, { "task_id": "0003083", "id": "RH20T_cfg2_task_0042_user_0007_scene_0005_cfg_0002_037522062165#311", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid from the left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003083/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6493899786526716, 0.7604555579555473 ], [ -0.7071067809365474, 0.7071067809365474 ], [ 0.8049454991501406, -0.5933487535993743 ], [ -0.7696434721001182, -0.6384739038157116 ] ] }, { "task_id": "0003084", "id": "RH20T_cfg2_task_0004_user_0006_scene_0008_cfg_0002_037522062165#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003084/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4481134229327318, -0.89397671121093 ], [ -0.9547870392375062, 0.29729061489404096 ], [ 0.2644959489093513, 0.9643867963688335 ], [ 0.9486832977505137, -0.31622776591683793 ] ] }, { "task_id": "0003085", "id": "RH20T_cfg1_task_0005_user_0004_scene_0005_cfg_0001_039422060546#199", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the side of the small block', and now you are performing subtask 'press the small block's 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003085/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9972121311638732, 0.07461880097941902 ], [ -0.10294030782647161, 0.9946875353720843 ], [ 0.9996283099931927, -0.027262462474131787 ] ] }, { "task_id": "0003086", "id": "RH20T_cfg5_task_0021_user_0010_scene_0003_cfg_0005_104122063678#382", "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 it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003086/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9185948497979785, 0.39520058441838046 ], [ -0.4472135953999579, -0.8944271907999158 ], [ 0.4371003839616387, 0.8994127274730929 ], [ 0.9471050500492187, -0.3209237045954489 ] ] }, { "task_id": "0003087", "id": "RH20T_cfg4_task_0064_user_0016_scene_0001_cfg_0004_104122062823#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the roll of paper onto the table', and now you are performing subtask 'pull the roll of paper to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003087/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9785497849363511, -0.2060104810392318 ], [ -0.19504198834781222, -0.9807948933295544 ], [ -0.9852237217326829, 0.17127235076100567 ], [ 0.17977313375511164, 0.9837080971405424 ] ] }, { "task_id": "0003088", "id": "RH20T_cfg4_task_0064_user_0016_scene_0007_cfg_0004_104122062823#102", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003088/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.907959384437037, 0.41905817743247864 ], [ 0.4109969573771873, -0.9116367154885189 ], [ -0.9330649169809092, -0.3597080214554704 ], [ -0.4307362786506694, 0.9024778436361599 ] ] }, { "task_id": "0003089", "id": "RH20T_cfg2_task_0073_user_0007_scene_0001_cfg_0002_105422061350#226", "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 brown cube 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003089/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6188353339334873, -0.7855207377755403 ], [ -0.7534263891418349, -0.657532262436374 ], [ -0.7027715484492192, 0.7114155963220703 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003090", "id": "RH20T_cfg2_task_0073_user_0007_scene_0001_cfg_0002_105422061350#474", "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 'place the brown cube in 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003090/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9295169203129322, -0.3687794664185659 ], [ -0.3627752301472754, -0.9318766723078711 ], [ -0.9366305616102153, 0.3503186992692978 ] ] }, { "task_id": "0003091", "id": "RH20T_cfg5_task_0064_user_0007_scene_0006_cfg_0005_104122063678#263", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003091/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8344312663877144, 0.551112022799898 ], [ 0.4314142394677477, -0.9021539524850871 ], [ -0.9367997423583866, -0.34986603538677563 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0003092", "id": "RH20T_cfg4_task_0091_user_0015_scene_0004_cfg_0004_104122062823#68", "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 small piece from the black 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003092/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9307514934094079, 0.3656523724108388 ], [ 0.30146256628322976, 0.9534780129242254 ], [ 0.8812392401228254, -0.47267050010313266 ], [ -0.30253444771587623, -0.9531384516140611 ] ] }, { "task_id": "0003093", "id": "RH20T_cfg6_task_0055_user_0014_scene_0004_cfg_0006_104122063633#127", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003093/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3387948670799564, -0.9408602648854265 ], [ -0.9263103673021627, -0.376761334837497 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.17738368705527216, 0.9841417720870694 ] ] }, { "task_id": "0003094", "id": "RH20T_cfg2_task_0033_user_0003_scene_0002_cfg_0002_037522062165#179", "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 'pick up the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003094/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9979967297074487, -0.06326553163640955 ], [ -0.033957283540485224, -0.9994232851472649 ], [ -0.9893102441592233, -0.1458260635195848 ] ] }, { "task_id": "0003095", "id": "RH20T_cfg4_task_0089_user_0007_scene_0006_cfg_0004_104122062823#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push a block on the desktop', and now you are performing subtask 'push the block on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003095/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.787505000994104, 0.6163082616475597 ], [ 0.5999464058106594, -0.8000401928371297 ], [ -0.82711211279317, -0.5620369675304451 ], [ -0.7301596272405736, 0.6832766048591936 ] ] }, { "task_id": "0003096", "id": "RH20T_cfg5_task_0222_user_0010_scene_0009_cfg_0005_104122063678#251", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the kettle with the lid', and now you are performing subtask 'pick up the lid 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003096/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9940979096566949, -0.10848661676073139 ], [ 0.0, 0.9999999989999999 ], [ -0.12202311043328548, -0.9925272593335592 ], [ -0.9929416136623539, -0.11860418145074342 ] ] }, { "task_id": "0003097", "id": "RH20T_cfg5_task_0122_user_0007_scene_0006_cfg_0005_104122063678#283", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003097/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8842372363221251, 0.4670380176189197 ], [ 0.5046402527221803, -0.8633297257320022 ], [ -0.9492752938397189, -0.31444620605997975 ], [ -0.4472135954499579, 0.8944271908999158 ] ] }, { "task_id": "0003098", "id": "RH20T_cfg3_task_0029_user_0011_scene_0004_cfg_0003_104122062823#110", "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 handle 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003098/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5317929745144285, 0.8468743898932689 ], [ -0.9170700562166689, 0.39872611139855174 ], [ 0.8818784087732034, -0.4714769052028347 ], [ -0.4111865316634253, -0.9115512252082177 ] ] }, { "task_id": "0003099", "id": "RH20T_cfg5_task_0021_user_0010_scene_0005_cfg_0005_104122063678#282", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003099/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8220200857714307, 0.5694584959312925 ], [ 0.3489144846213545, -0.9371545669853051 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9396380541966614, -0.34217002660302126 ] ] }, { "task_id": "0003100", "id": "RH20T_cfg6_task_0045_user_0014_scene_0005_cfg_0006_104122064161#183", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the surface of 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003100/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9499535752961946, 0.3123911086794521 ], [ -0.29408584881590144, 0.9557790086516798 ], [ 0.3508479720363696, -0.9364324324359803 ], [ -0.9595310981650588, -0.281602684032231 ] ] }, { "task_id": "0003101", "id": "RH20T_cfg3_task_0031_user_0010_scene_0003_cfg_0003_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'press the box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003101/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6323748186196949, 0.7746625644599769 ], [ 0.8143136242730182, -0.5804251212028488 ], [ -0.5675623635247583, -0.8233304096838584 ], [ -0.7808688093210792, 0.6246950474568633 ] ] }, { "task_id": "0003102", "id": "RH20T_cfg7_task_0226_user_0066_scene_0004_cfg_0007_104122064161#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'moving the knife from the knife rack to the cutting board to cut the cucumber into segments, then placing it back on the knife rack', and now you are performing subtask 'pick up the knife from the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003102/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135954499579, 0.8944271908999158 ], [ 0.9284979025051207, 0.37133764291220417 ], [ 0.4742890024333648, -0.8803692078729035 ], [ -0.949774941219529, -0.3129337965631715 ] ] }, { "task_id": "0003103", "id": "RH20T_cfg4_task_0090_user_0007_scene_0007_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'approach and touch an object with obstacles', and now you are performing subtask 'push the block on the table to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003103/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9442949852493864, -0.32910025954541744 ], [ -0.3950508097549534, -0.918659271826043 ], [ 0.41036467731008686, 0.9119215051335263 ], [ -0.8992908156847348, 0.4373511504787478 ] ] }, { "task_id": "0003104", "id": "RH20T_cfg4_task_0329_user_0014_scene_0009_cfg_0004_038522062288#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup from the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003104/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.002849011801411231, -0.9999959415576423 ], [ -0.9884280249624476, 0.15169060441845045 ], [ 0.15367323561663865, 0.9881217215784264 ], [ 0.9999999995, 0.0 ] ] }, { "task_id": "0003105", "id": "RH20T_cfg7_task_0064_user_0020_scene_0005_cfg_0007_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and place it on the table', and now you are performing subtask 'pick up the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003105/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.982571352807311, 0.18588581614101415 ], [ 0.02691154399405795, -0.9996378188123216 ], [ -0.9953985064612253, -0.09582177902106663 ], [ -0.12403473457382384, 0.9922778765905907 ] ] }, { "task_id": "0003106", "id": "RH20T_cfg6_task_0045_user_0014_scene_0003_cfg_0006_104122064161#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003106/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9508417895775022, 0.3096770756660125 ], [ 0.21782443056800468, -0.9759879699298166 ], [ -0.22903933371243254, 0.9734171682778383 ], [ -0.96976869970964, -0.24402595981467637 ] ] }, { "task_id": "0003107", "id": "RH20T_cfg7_task_0064_user_0020_scene_0003_cfg_0007_104122064161#163", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003107/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8356977655403836, 0.5491896254216845 ], [ 0.62448464370574, -0.7810370860437519 ], [ -0.59999999988, 0.79999999984 ], [ -0.7691942535104908, -0.6390150235842964 ] ] }, { "task_id": "0003108", "id": "RH20T_cfg4_task_0085_user_0007_scene_0008_cfg_0004_104122062823#105", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003108/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9759119307678783, 0.21816485368847147 ], [ 0.1228271377751405, -0.9924280801277071 ], [ -0.9828560237947115, -0.18437471760100274 ], [ -0.18208926017567612, 0.983282004948651 ] ] }, { "task_id": "0003109", "id": "RH20T_cfg3_task_0075_user_0010_scene_0003_cfg_0003_104122062823#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the black piece on the right side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003109/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, -0.7071067809365474 ], [ -0.7240148849571515, -0.6897843477207083 ], [ -0.6346098957356873, 0.7728326340381467 ], [ 0.6743552665147269, 0.7384070520545235 ] ] }, { "task_id": "0003111", "id": "RH20T_cfg6_task_0100_user_0014_scene_0002_cfg_0006_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'shake the rod in the beaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003111/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6073782536692607, -0.7944127749285502 ], [ -0.7789275532091107, 0.6271139185599919 ], [ 0.7071067806865474, -0.7071067806865474 ], [ 0.5906871508143766, 0.8069006691426114 ] ] }, { "task_id": "0003112", "id": "RH20T_cfg7_task_0044_user_0020_scene_0004_cfg_0007_104122064161#87", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003112/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776599183794, 0.9486832979755138 ], [ 0.9115852005126809, -0.41111120418477454 ], [ -0.40035230349440526, -0.9163613005178272 ], [ -0.9266415186650933, 0.37594613428794516 ] ] }, { "task_id": "0003113", "id": "RH20T_cfg4_task_0108_user_0015_scene_0005_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sharpen the pencil with a pencil sharpener', and now you are performing subtask 'use a pencil sharpener to sharpen the pencil'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003113/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.025117654992909334, -0.9996845019343139 ], [ 0.9999999999166667, 0.0 ], [ -0.9958347059461303, 0.09117696218444787 ], [ 0.04001685496465659, 0.9991990048627639 ] ] }, { "task_id": "0003114", "id": "RH20T_cfg6_task_0046_user_0014_scene_0002_cfg_0006_104122064161#190", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003114/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9207699331878659, -0.3901060498597952 ], [ -0.29183355740130223, -0.9564691185681328 ], [ 0.4228854653055764, 0.9061831399405209 ], [ -0.8846299207391708, 0.4662937950831091 ] ] }, { "task_id": "0003115", "id": "RH20T_cfg6_task_0013_user_0014_scene_0005_cfg_0006_104122064161#151", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003115/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5641602869437523, 0.8256652897122072 ], [ 0.8925551094161304, -0.45093832910405796 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.6265057521418521, -0.7794167964145835 ] ] }, { "task_id": "0003116", "id": "RH20T_cfg6_task_0103_user_0014_scene_0007_cfg_0006_104122064161#92", "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 to the target point'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003116/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.946487338620002, -0.3227409453912314 ], [ -0.28855627500024333, -0.9574629372241956 ], [ 0.19611613512536352, 0.9805806756268175 ], [ -0.982006341794119, 0.18884794061925023 ] ] }, { "task_id": "0003117", "id": "RH20T_cfg4_task_0021_user_0016_scene_0005_cfg_0004_104122062823#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003117/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9638858593135794, 0.26631569652448717 ], [ 0.28555379319230306, -0.9583626824921175 ], [ -0.9649678613071591, -0.26236811285727474 ], [ -0.1643989872918438, 0.9863939237510627 ] ] }, { "task_id": "0003118", "id": "RH20T_cfg3_task_0017_user_0011_scene_0004_cfg_0003_104122062823#107", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003118/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9888306115311174, 0.14904369057090797 ], [ 0.06772596649011049, -0.9977039608335633 ], [ -0.9559069318580148, -0.29366977649359255 ], [ -0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0003119", "id": "RH20T_cfg2_task_0054_user_0007_scene_0020_cfg_0002_105422061350#264", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping the moving object', and now you are performing subtask 'pick up 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003119/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6539509765674512, -0.7565369258975249 ], [ -0.7354654440570282, 0.6775622337453574 ], [ 0.7071067809365474, -0.7071067809365474 ], [ 0.6957911729566648, 0.718244139297766 ] ] }, { "task_id": "0003120", "id": "RH20T_cfg4_task_0026_user_0016_scene_0006_cfg_0004_104122062823#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to the closed position', and now you are performing subtask 'push the drawer to the closed 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003120/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13464493426155083, -0.9908939104049952 ], [ -0.9882973029041418, 0.15253996549232346 ], [ -0.085845785661244, 0.9963084367223856 ], [ 0.9999999996666666, 0.0 ] ] }, { "task_id": "0003121", "id": "RH20T_cfg5_task_0068_user_0007_scene_0005_cfg_0005_104122063678#188", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button', and now you are performing subtask 'press a button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003121/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.32362785750574463, 0.9461844481105369 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9481304784806988, -0.31788141778965523 ], [ -0.5625127679879305, -0.8267885980409725 ] ] }, { "task_id": "0003123", "id": "RH20T_cfg7_task_0014_user_0014_scene_0010_cfg_0007_104122064161#65", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale', and now you are performing subtask 'pick up the block from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003123/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35565580195150076, -0.9346170074090429 ], [ -0.8712918119278231, 0.49076529876054903 ], [ 0.579272499103464, 0.8151339594093888 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0003124", "id": "RH20T_cfg4_task_0128_user_0007_scene_0001_cfg_0004_104122062823#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the USB drive to the docking station', and now you are performing subtask 'pick up the USB drive from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003124/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, -0.4472135952999579 ], [ -0.5665551489815258, 0.8240238243901212 ], [ 0.9407425784634251, 0.33912151371740873 ], [ 0.5441667930802241, -0.8389770564853277 ] ] }, { "task_id": "0003125", "id": "RH20T_cfg3_task_0064_user_0010_scene_0006_cfg_0003_104122062823#710", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and throw it on the table', and now you are performing subtask 'pick up the roll of paper from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003125/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5299989399470002, 0.8479983039152004 ], [ 0.8865985518836361, 0.4625397364528151 ], [ 0.6198592560857475, -0.7847130065475044 ], [ -0.8736937970576484, -0.4864762573682181 ] ] }, { "task_id": "0003126", "id": "RH20T_cfg6_task_0206_user_0014_scene_0003_cfg_0006_104122064161#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the green garlic', and now you are performing subtask 'pick up the knife on the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003126/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9546317808389101, -0.2977887892656995 ], [ -0.21890128698859762, -0.9757470095033526 ], [ 0.29408584881590144, 0.9557790086516798 ], [ -0.9024021958053046, 0.43089474005348993 ] ] }, { "task_id": "0003127", "id": "RH20T_cfg4_task_0007_user_0010_scene_0008_cfg_0004_104122062823#84", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sweeping a small block on the table from right to left', and now you are performing subtask 'slide a small block from the right side of the table to the left 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003127/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.17579063847747703, 0.9844275754738714 ], [ 0.9916419781824316, -0.1290201034972224 ], [ -0.061560827100231516, -0.9981033336116734 ], [ -0.9991047257854853, 0.04230540051944107 ] ] }, { "task_id": "0003128", "id": "RH20T_cfg4_task_0050_user_0014_scene_0002_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003128/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9592202485677864, -0.2826597154487247 ], [ -0.11701668770023513, 0.9931299485966908 ], [ 0.9847233379763897, 0.1741262405401243 ], [ 0.24253562497750944, -0.9701424999100378 ] ] }, { "task_id": "0003129", "id": "RH20T_cfg4_task_0008_user_0010_scene_0006_cfg_0004_104122062823#241", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003129/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.26276883371609605, 0.9648588187022403 ], [ -0.970142500098273, -0.24253562502456824 ], [ 0.9629154378395348, 0.2698033720513828 ], [ 0.32073137560477055, -0.9471701983818281 ] ] }, { "task_id": "0003130", "id": "RH20T_cfg5_task_0033_user_0010_scene_0007_cfg_0005_104122063678#259", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to push another small block into the designated position', and now you are performing subtask 'pick up a block from the left side of the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003130/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9968170198390558, -0.07972345300589598 ], [ 0.02775678489289778, 0.9996147062205565 ], [ 0.9993131028631708, 0.03705836539813818 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0003131", "id": "RH20T_cfg2_task_0035_user_0007_scene_0010_cfg_0002_037522062165#378", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack up the small blocks', and now you are performing subtask 'pick up the last small block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003131/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9712469700808963, -0.2380741966460843 ], [ -0.08683532352081577, -0.996222679218374 ], [ -0.9948192791644299, 0.10165924356773529 ] ] }, { "task_id": "0003132", "id": "RH20T_cfg2_task_0070_user_0014_scene_0008_cfg_0002_105422061350#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003132/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8798615867866315, -0.4752300370318682 ], [ -0.5516691343681542, -0.8340630468888377 ], [ -0.8268703671452009, 0.5623925639063525 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0003133", "id": "RH20T_cfg6_task_0017_user_0014_scene_0005_cfg_0006_104122064161#58", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003133/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9953866776036544, -0.09594457800813273 ], [ -0.20745918688049617, 0.978243674029576 ], [ 0.9601963879923172, 0.2793257891540045 ], [ 0.24253562497750944, -0.9701424999100378 ] ] }, { "task_id": "0003134", "id": "RH20T_cfg4_task_0101_user_0015_scene_0003_cfg_0004_104122062823#270", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003134/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.603161748445999, 0.7976188972257149 ], [ 0.9175897036094423, 0.3975287861651481 ], [ 0.5072247217065294, -0.8618138323847755 ], [ -0.8786245095557644, -0.47751332041074157 ] ] }, { "task_id": "0003135", "id": "RH20T_cfg4_task_0023_user_0014_scene_0009_cfg_0004_038522062288#104", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003135/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9151528565843946, -0.4031069945875693 ], [ 0.5038710254878168, 0.8637789008362573 ], [ -0.5721491273250987, -0.8201496059263383 ], [ -0.8396228058151577, 0.5431699033958729 ] ] }, { "task_id": "0003137", "id": "RH20T_cfg4_task_0014_user_0010_scene_0006_cfg_0004_104122062823#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003137/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9975571779716198, 0.06985468257245277 ], [ -0.09053574603432181, 0.9958932063775399 ], [ 0.05907720955959226, -0.998253416378152 ], [ -0.9952945976851362, -0.09689511762097754 ] ] }, { "task_id": "0003138", "id": "RH20T_cfg4_task_0012_user_0010_scene_0006_cfg_0004_104122062823#191", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003138/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9920437873007141, 0.12589330434163518 ], [ -0.0717235958167636, 0.997424546420988 ], [ 0.0, -0.9999999995 ], [ 0.9993520004692552, 0.03599415449899911 ] ] }, { "task_id": "0003139", "id": "RH20T_cfg5_task_0041_user_0007_scene_0007_cfg_0005_104122063678#319", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'strike the sponge 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003139/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.43175902362326235, -0.90198899412348 ], [ -0.9447752177211354, 0.3277190686853321 ], [ 0.27635622115487424, 0.9610552736596363 ], [ 0.9486832977505137, -0.31622776591683793 ] ] }, { "task_id": "0003140", "id": "RH20T_cfg4_task_0109_user_0015_scene_0003_cfg_0004_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003140/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906762851382, 0.9284766907128456 ], [ 0.9171776538744384, -0.3984785455120275 ], [ -0.23415486288173432, -0.9721993109382645 ], [ -0.9073542722611477, 0.42036677391231 ] ] }, { "task_id": "0003141", "id": "RH20T_cfg3_task_0035_user_0010_scene_0006_cfg_0003_104122062823#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the block on the table', and now you are performing subtask 'throw a square block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003141/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999998, 0.0 ], [ -0.13351619801493458, -0.9910466310258246 ], [ -0.9948870820952191, -0.10099353385272039 ], [ -0.10016095231553994, 0.9949712476404754 ] ] }, { "task_id": "0003142", "id": "RH20T_cfg4_task_0109_user_0007_scene_0004_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003142/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8907785736526407, 0.4544376004704794 ], [ 0.5784576762168906, -0.8157123983523574 ], [ -0.4472135954599579, 0.8944271909199158 ], [ -0.9532182352346736, -0.30228297341414095 ] ] }, { "task_id": "0003143", "id": "RH20T_cfg7_task_0035_user_0014_scene_0005_cfg_0007_104122064161#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a block', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003143/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9992519310151294, 0.03867270823894979 ], [ 0.0, 0.9999999999090909 ], [ 0.09360842951283473, -0.9956090909207995 ], [ -0.9993033167337972, -0.037321323192409606 ] ] }, { "task_id": "0003144", "id": "RH20T_cfg6_task_0213_user_0014_scene_0007_cfg_0006_104122064161#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife on the knife 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003144/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.8169045978159036, -0.5767728132178536 ], [ -0.4911457246865562, -0.8710774231502718 ], [ -0.8191667673373859, 0.5735554090844379 ] ] }, { "task_id": "0003147", "id": "RH20T_cfg3_task_0070_user_0010_scene_0001_cfg_0003_104122062823#148", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the window to open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003147/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.9460904305455311, 0.323902604543668 ], [ 0.5298638364241637, -0.8480827287770145 ], [ -0.888460320185787, -0.45895343931097077 ] ] }, { "task_id": "0003148", "id": "RH20T_cfg5_task_0021_user_0010_scene_0001_cfg_0005_104122063678#224", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003148/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9701424999100378, -0.24253562497750944 ], [ -0.3745788679642788, 0.9271950558941735 ], [ 0.9898106360290506, 0.14238997437940093 ], [ 0.19708163434895096, -0.9803870814134316 ] ] }, { "task_id": "0003149", "id": "RH20T_cfg3_task_0014_user_0011_scene_0007_cfg_0003_104122062823#168", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003149/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9541297491036245, 0.2993934232334681 ], [ 0.3143637546256439, -0.9493026017965336 ], [ -0.9890496049760613, -0.14758346417094656 ], [ -0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0003150", "id": "RH20T_cfg7_task_0052_user_0020_scene_0003_cfg_0007_104122064161#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003150/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, 0.9486832977505137 ], [ 0.8956375640266363, 0.44478461518406076 ], [ 0.1759606457665524, -0.9843972019166948 ], [ -0.9839900585497863, -0.17822335614387974 ] ] }, { "task_id": "0003151", "id": "RH20T_cfg7_task_0044_user_0020_scene_0003_cfg_0007_104122064161#86", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of things on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003151/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906762851382, 0.9284766907128456 ], [ 0.9256710162074118, -0.37832944605665797 ], [ -0.39241397524079386, -0.9197887105393922 ], [ -0.9687654991432276, 0.24797864357596022 ] ] }, { "task_id": "0003152", "id": "RH20T_cfg7_task_0035_user_0020_scene_0003_cfg_0007_104122064161#102", "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 from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003152/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999061982782882, 0.04330305483376903 ], [ -0.13006841829716212, -0.9915050209462756 ], [ -0.9972957388305895, 0.0734929201375784 ], [ 0.0, 0.9999999999 ] ] }, { "task_id": "0003153", "id": "RH20T_cfg5_task_0080_user_0007_scene_0005_cfg_0005_104122063678#217", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003153/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9894934540466267, 0.14457767600454932 ], [ 0.0, 0.9999999995 ], [ 0.14630563685064932, -0.9892394354380167 ], [ -0.9952273121805909, 0.09758379522132134 ] ] }, { "task_id": "0003154", "id": "RH20T_cfg2_task_0054_user_0007_scene_0016_cfg_0002_105422061350#223", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003154/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9376519899546151, 0.3475755252231529 ], [ 0.2832915101628664, 0.9590338473013571 ], [ -0.24253562497750944, -0.9701424999100378 ], [ 0.9665383696867942, -0.25652208466951554 ] ] }, { "task_id": "0003155", "id": "RH20T_cfg5_task_0067_user_0007_scene_0010_cfg_0005_104122063678#197", "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 a 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003155/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.9122866719027828, 0.4095522289873958 ], [ 0.35052233563431995, -0.9365543722718191 ], [ -0.8186594711584625, -0.5742792615814597 ] ] }, { "task_id": "0003156", "id": "RH20T_cfg4_task_0128_user_0010_scene_0009_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the USB drive and plug it into the docking station', and now you are performing subtask 'pick up the USB drive between the two blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003156/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.5922318093662242, 0.8057676364652581 ], [ 0.6993008645254815, -0.7148274623109511 ], [ -0.7016387882057228, -0.7125328139006687 ] ] }, { "task_id": "0003157", "id": "RH20T_cfg4_task_0116_user_0014_scene_0003_cfg_0004_038522062288#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the correction tape on the paper', and now you are performing subtask 'pick up the correction tape 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003157/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06651901051934915, 0.9977851577902372 ], [ 0.9765242324412019, 0.21540757520366213 ], [ 0.19118543659541035, -0.9815539357742 ], [ -0.9960594431587166, 0.0886881372808527 ] ] }, { "task_id": "0003158", "id": "RH20T_cfg4_task_0092_user_0015_scene_0010_cfg_0004_104122062823#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003158/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5634861426336895, -0.8261255153182265 ], [ -0.8476919060092936, -0.5304888617929043 ], [ -0.5304884191890471, 0.8476921829923324 ], [ 0.7592566022829437, 0.6507913733853803 ] ] }, { "task_id": "0003159", "id": "RH20T_cfg5_task_0048_user_0010_scene_0006_cfg_0005_104122063678#145", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel clockwise', and now you are performing subtask 'rotate the steering wheel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003159/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9980496617516099, 0.06242493634355682 ], [ 0.07997502299357521, -0.9967968678207096 ], [ -0.9976050284172922, -0.06916796423586413 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003160", "id": "RH20T_cfg6_task_0089_user_0020_scene_0003_cfg_0006_104122064161#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block to the right around the obstacle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003160/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8964313002057428, -0.44318272079520615 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.4303860246462553, -0.9026449300744966 ], [ -0.9589579268548167, 0.28354839890627487 ] ] }, { "task_id": "0003161", "id": "RH20T_cfg6_task_0104_user_0020_scene_0005_cfg_0006_104122064161#152", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dragging the plate back after holding it down', and now you are performing subtask 'pull the plate back to the side of the plate'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003161/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999906442036633, 0.004325679731836894 ], [ -0.11080911757047587, -0.9938417074480486 ], [ 0.0, 0.9999999995 ], [ -0.9978702193949118, -0.06523055453352061 ] ] }, { "task_id": "0003162", "id": "RH20T_cfg6_task_0013_user_0014_scene_0008_cfg_0006_104122064161#61", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003162/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2735915568516083, 0.9618459648090817 ], [ 0.9865895629941966, -0.1632208142086054 ], [ -0.9701425000276848, 0.2425356250069212 ], [ -0.2173365372782467, -0.9760967316633641 ] ] }, { "task_id": "0003163", "id": "RH20T_cfg4_task_0111_user_0007_scene_0009_cfg_0004_104122062823#97", "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 5 blocks 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003163/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7506095500362703, -0.6607460203393948 ], [ -0.6198677637097004, -0.7847062861437616 ], [ -0.8633024918041562, 0.5046868411646324 ], [ 0.6280192682505717, 0.7781977889191867 ] ] }, { "task_id": "0003164", "id": "RH20T_cfg4_task_0075_user_0007_scene_0008_cfg_0004_104122062823#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'throw the black chess piece on the right side of the table to the left side of the table', and now you are performing subtask 'pick up the black piece from the right side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003164/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9936000698489976, 0.11295530618818693 ], [ 0.3361340061253699, -0.9418141695292708 ], [ -0.9365660896871767, -0.3504910264872291 ], [ -0.2248595066819045, 0.9743911956215862 ] ] }, { "task_id": "0003165", "id": "RH20T_cfg7_task_0009_user_0020_scene_0002_cfg_0007_104122064161#98", "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 on the base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003165/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9829607953065178, -0.18381532822476523 ], [ -0.322220329284725, -0.9466647027304037 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9770191577589736, 0.21315150802174943 ] ] }, { "task_id": "0003166", "id": "RH20T_cfg5_task_0014_user_0007_scene_0006_cfg_0005_104122063678#226", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003166/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.8250449867419946, 0.5650670489879074 ], [ 0.43623538027627246, -0.8998325916498112 ], [ -0.9074567903543695, -0.420145419634376 ] ] }, { "task_id": "0003167", "id": "RH20T_cfg5_task_0009_user_0007_scene_0003_cfg_0005_104122063678#189", "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 layout'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003167/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07954929498001466, -0.9968309333423511 ], [ 0.9999999989999999, 0.0 ], [ -0.9983036975647641, 0.05822136573904792 ], [ -0.0496238517034862, 0.9987679777316203 ] ] }, { "task_id": "0003168", "id": "RH20T_cfg6_task_0032_user_0014_scene_0004_cfg_0006_104122064161#76", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the lid', and now you are performing subtask 'push the black box lid to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003168/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, -0.7071067806865474 ], [ -0.7240015006132781, 0.6897983959895251 ], [ 0.6771988289487582, 0.7358000720782994 ], [ 0.8077107866827772, -0.589578904877277 ] ] }, { "task_id": "0003169", "id": "RH20T_cfg2_task_0071_user_0014_scene_0001_cfg_0002_105422061350#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'press the sliding window to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003169/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4381500922808741, 0.8989018281404603 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9017984972012498, -0.4321567660532084 ], [ -0.46017005862345545, -0.8878307930830546 ] ] }, { "task_id": "0003170", "id": "RH20T_cfg3_task_0020_user_0010_scene_0005_cfg_0003_104122062823#293", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003170/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ 0.03661799421432621, 0.9993293363549975 ], [ 0.9989529272915346, 0.04574985306723855 ], [ 0.03073763565821072, -0.9995274872429187 ] ] }, { "task_id": "0003171", "id": "RH20T_cfg3_task_0020_user_0011_scene_0006_cfg_0003_104122062823#224", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003171/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12555124262120723, -0.9920871360300318 ], [ 0.9999999995, 0.0 ], [ -0.9999997236686571, -0.000743412812388774 ], [ 0.11716374242881944, 0.9931126106641046 ] ] }, { "task_id": "0003172", "id": "RH20T_cfg4_task_0004_user_0010_scene_0006_cfg_0004_104122062823#117", "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 square on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003172/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5915389994754975, -0.8062763869167492 ], [ -0.7782692240685782, -0.6279307405022414 ], [ 0.7808688094023799, 0.624695047521904 ], [ -0.5955196785928684, 0.8033407199990841 ] ] }, { "task_id": "0003173", "id": "RH20T_cfg4_task_0072_user_0007_scene_0011_cfg_0004_104122062823#171", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop coins into a piggy bank', and now you are performing subtask 'pick up the coin from the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003173/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.17888543818398317, -0.9838699100119074 ], [ -0.9980253623155797, -0.06281222950075717 ], [ -0.14951396632058286, 0.9887596137965423 ], [ 0.9898160765833243, 0.1423521497456045 ] ] }, { "task_id": "0003174", "id": "RH20T_cfg7_task_0002_user_0020_scene_0009_cfg_0007_104122064161#112", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003174/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9291485074537253, -0.3697067095638304 ], [ -0.4932075474780607, -0.8699116708670349 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9443586921540411, 0.32891740688675797 ] ] }, { "task_id": "0003175", "id": "RH20T_cfg6_task_0020_user_0014_scene_0008_cfg_0006_104122064161#58", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003175/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6163082616370087, -0.7875050009806221 ], [ -0.7259149500137551, 0.6877844759417935 ], [ 0.7314161687766559, 0.6819313660861174 ], [ 0.8204287312734799, -0.5717488057713702 ] ] }, { "task_id": "0003176", "id": "RH20T_cfg4_task_0060_user_0016_scene_0004_cfg_0004_104122062823#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the knob on the speaker clockwise', and now you are performing subtask 'twist the knob clockwise on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003176/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7845163334544352, 0.6201081539080175 ], [ 0.7230336058367778, -0.6908128580380268 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6982883422071727, -0.7158165904319056 ] ] }, { "task_id": "0003177", "id": "RH20T_cfg6_task_0089_user_0020_scene_0008_cfg_0006_104122064161#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the block to the side of the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003177/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930037216964389, 0.11808305846742477 ], [ 0.14169727541757673, -0.9899100373969523 ], [ 0.0, 0.9999999989999999 ], [ -0.9999976274992253, -0.0021783011547648304 ] ] }, { "task_id": "0003178", "id": "RH20T_cfg5_task_0010_user_0007_scene_0010_cfg_0005_104122063678#253", "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 receiver 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003178/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9898096621610011, 0.14239674396812943 ], [ 0.13837408140137744, -0.9903800349342292 ], [ -0.9920958337267342, -0.1254824956002085 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003179", "id": "RH20T_cfg6_task_0001_user_0020_scene_0002_cfg_0006_104122064161#161", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003179/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13137294463499624, -0.9913330164066616 ], [ -0.992369513177136, 0.12329942950628071 ], [ -0.03228446049416007, 0.9994787209393711 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003180", "id": "RH20T_cfg6_task_0004_user_0014_scene_0005_cfg_0006_104122064161#23", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003180/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9284766907128456, 0.3713906762851382 ], [ 0.43325419844476154, -0.9012717678536187 ], [ -0.9275873679154458, -0.37360631001589817 ], [ -0.372616397686453, 0.9279854633425952 ] ] }, { "task_id": "0003181", "id": "RH20T_cfg3_task_0091_user_0010_scene_0009_cfg_0003_104122062823#120", "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 dark box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003181/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, 0.7071067810198809 ], [ 0.8021675484345757, -0.5970990070653799 ], [ -0.7044333019174472, -0.7097701903783243 ], [ -0.7920595999251963, 0.6104437649500059 ] ] }, { "task_id": "0003182", "id": "RH20T_cfg4_task_0329_user_0014_scene_0002_cfg_0004_038522062288#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003182/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.945256846939662, 0.3263272794506897 ], [ 0.35997650832133027, 0.9329613676121769 ], [ 0.9245631791966803, -0.38102877538806346 ], [ -0.31622776591683793, -0.9486832977505137 ] ] }, { "task_id": "0003183", "id": "RH20T_cfg3_task_0052_user_0010_scene_0006_cfg_0003_104122062823#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grab a basketball, and move', and now you are performing subtask 'pick up the basketball 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003183/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.45634106389686413, -0.8898049412098575 ], [ 0.9486832977505137, 0.31622776591683793 ], [ -0.9745998449279597, -0.2239534377195333 ], [ -0.2948512095798545, 0.955543177574565 ] ] }, { "task_id": "0003184", "id": "RH20T_cfg1_task_0021_user_0001_scene_0007_cfg_0001_039422060546#283", "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 of the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003184/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6441168863337029, -0.7649270793610171 ], [ -0.6755986694435634, -0.7372695828840946 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6506136043461488, 0.7594089397944385 ] ] }, { "task_id": "0003185", "id": "RH20T_cfg7_task_0010_user_0014_scene_0003_cfg_0007_104122064161#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the handset of the telephone on the phone cradle', and now you are performing subtask 'pick up the handset 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003185/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996643570017207, -0.025907013342649794 ], [ -0.12403473457382384, 0.9922778765905907 ], [ 0.17399620596259383, -0.9847463228215797 ], [ -0.9754454641379814, -0.22024110990602594 ] ] }, { "task_id": "0003186", "id": "RH20T_cfg6_task_0089_user_0020_scene_0010_cfg_0006_104122064161#103", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the small square block to the left away from the golden piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003186/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9718957152593815, -0.23541180654430913 ], [ 0.19611613511895326, 0.9805806755947664 ], [ -0.23573477661191877, -0.971817428890699 ], [ -0.9788869963350099, 0.20440217319349216 ] ] }, { "task_id": "0003187", "id": "RH20T_cfg6_task_0089_user_0020_scene_0002_cfg_0006_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block around the piggy bank on the table in a clockwise direction', and now you are performing subtask 'push a block on the table in a clockwise direction around the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003187/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8213572088519305, -0.5704141788796682 ], [ -0.6153765444803475, -0.7882332830472378 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.792021295122897, 0.6104934627593066 ] ] }, { "task_id": "0003188", "id": "RH20T_cfg5_task_0019_user_0010_scene_0001_cfg_0005_104122063678#765", "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 stone from the left bowl'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003188/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8215725882148798, 0.5701039223631983 ], [ 0.5129254230294029, -0.8584331717787402 ], [ -0.8523864705292935, -0.52291232999291 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003189", "id": "RH20T_cfg3_task_0026_user_0011_scene_0004_cfg_0003_038522062288#107", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003189/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9811471723855768, 0.19326206590996423 ], [ -0.2982749931181532, 0.9544799779780903 ], [ 0.28961665294334765, -0.9571427241210647 ], [ -0.9535946958341264, -0.3010932680699122 ] ] }, { "task_id": "0003190", "id": "RH20T_cfg6_task_0059_user_0014_scene_0006_cfg_0006_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'turn the knob clockwise on the speaker to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003190/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990396996926676, 0.04381413513906979 ], [ 0.011908349533659147, -0.9999290930917973 ], [ 0.0, 0.9999999996666666 ], [ -0.999998961655234, -0.001441071980815347 ] ] }, { "task_id": "0003191", "id": "RH20T_cfg4_task_0101_user_0014_scene_0010_cfg_0004_104122062823#108", "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 left side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003191/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9195371093175938, -0.39300318648561067 ], [ 0.4472135954666246, 0.8944271909332492 ], [ -0.3982531974278607, -0.9172755260762632 ], [ -0.9055497519387826, 0.4242400815147118 ] ] }, { "task_id": "0003192", "id": "RH20T_cfg4_task_0217_user_0007_scene_0010_cfg_0004_104122062823#100", "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 socket head 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003192/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2524232712480539, 0.9676169139346581 ], [ 0.9607511414955173, 0.27741168705564717 ], [ -0.943858356321474, -0.3303504247125159 ], [ 0.3817863128159087, -0.9242506215017836 ] ] }, { "task_id": "0003193", "id": "RH20T_cfg4_task_0200_user_0010_scene_0003_cfg_0004_104122062823#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large straw 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003193/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4375918920185739, -0.8991736962565158 ], [ -0.976357737111754, 0.21616097978593402 ], [ 0.940887411833316, -0.3387194682599938 ], [ 0.40792751852706727, 0.9130143151278348 ] ] }, { "task_id": "0003194", "id": "RH20T_cfg3_task_0049_user_0010_scene_0003_cfg_0003_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'rotate the steering wheel 90 degrees 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003194/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.993892233832621, -0.11035500680622745 ], [ 0.0, 0.9999999995 ], [ 0.08746776202606979, -0.9961673507027576 ], [ -0.9922937879068283, 0.1239073786403311 ] ] }, { "task_id": "0003195", "id": "RH20T_cfg6_task_0047_user_0014_scene_0004_cfg_0006_104122064161#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack and place it on the table', and now you are performing subtask 'pick up the cup off 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003195/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3056489064544008, 0.9521442884265121 ], [ -0.9191450298973682, 0.3939192985274435 ], [ 0.8919664115123369, -0.45210167079298047 ], [ -0.2810671436419983, -0.9596881059828387 ] ] }, { "task_id": "0003196", "id": "RH20T_cfg4_task_0125_user_0010_scene_0006_cfg_0004_104122062823#178", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003196/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.31622776591683793, 0.9486832977505137 ], [ 0.9829396185178596, -0.18392853598059372 ], [ -0.2800356610746744, -0.9599895981345162 ], [ -0.9191654651715331, 0.39387161313808744 ] ] }, { "task_id": "0003197", "id": "RH20T_cfg4_task_0079_user_0007_scene_0010_cfg_0004_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the handle of the microwave door to close the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003197/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.19207216657492646, -0.98138080418725 ], [ 0.9877629652777178, -0.1559625734649028 ], [ -0.9963926814241776, 0.08486238509691747 ], [ 0.1992982767942245, 0.9799388740461584 ] ] }, { "task_id": "0003198", "id": "RH20T_cfg6_task_0052_user_0014_scene_0010_cfg_0006_104122063633#87", "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 green 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003198/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.98911114011568, -0.1471704878671664 ], [ -0.02859365878073751, -0.9995911177464167 ], [ 0.12403473457382384, 0.9922778765905907 ], [ -0.9791265023943092, 0.20325179534037796 ] ] }, { "task_id": "0003199", "id": "RH20T_cfg3_task_0069_user_0010_scene_0002_cfg_0003_104122062823#275", "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 the puzzle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003199/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6957260369034252, 0.7183072334138465 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.634579539737497, -0.7728575598042284 ], [ -0.6163500347130473, -0.7874723072649764 ] ] }, { "task_id": "0003200", "id": "RH20T_cfg4_task_0107_user_0007_scene_0011_cfg_0004_104122062823#95", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003200/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.26760084419529667, -0.9635298584818036 ], [ -0.9328733306477448, -0.36020459320528303 ], [ -0.44405925795337214, 0.8959974193187727 ], [ 0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0003201", "id": "RH20T_cfg3_task_0041_user_0010_scene_0009_cfg_0003_104122062823#131", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003201/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1414213562173095, 0.9899494935211665 ], [ 0.9992780852053654, -0.037990899282570226 ], [ -0.09270099384808295, -0.9956939920174158 ], [ -0.9673060557587815, 0.25361189737941964 ] ] }, { "task_id": "0003202", "id": "RH20T_cfg1_task_0116_user_0015_scene_0009_cfg_0001_819112070044#202", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the correction tape on paper', and now you are performing subtask 'pick up the correction tape 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003202/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7734332556292877, -0.6338777477453212 ], [ -0.7522858245157455, -0.6588368828721302 ], [ -0.6064086155684987, 0.7951531871056651 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003203", "id": "RH20T_cfg7_task_0006_user_0020_scene_0009_cfg_0007_104122064161#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the block and move while pushing another block', and now you are performing subtask 'slide the small block on the cardboard and push another small block to move'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003203/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9337350419130415, -0.35796490261427993 ], [ -0.2444220277791771, -0.9696689498670745 ], [ -0.8786773946359265, 0.47741599905723764 ], [ 0.3713906762851382, 0.9284766907128456 ] ] }, { "task_id": "0003204", "id": "RH20T_cfg6_task_0096_user_0020_scene_0001_cfg_0006_104122064161#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out the drawer', and now you are performing subtask 'pull the drawer handle to the outside 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003204/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810198809, 0.7071067810198809 ], [ 0.8028862168714315, 0.5961323030652514 ], [ 0.7752685569188096, -0.6316317476607921 ], [ -0.8053444923453433, -0.5928070922728753 ] ] }, { "task_id": "0003205", "id": "RH20T_cfg4_task_0091_user_0015_scene_0001_cfg_0004_104122062823#161", "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 cube from the pink 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003205/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.509801916956644, -0.8602918141347918 ], [ -0.927494199907508, 0.3738375437779511 ], [ 0.8944271907999158, -0.4472135953999579 ], [ 0.44997361303189326, 0.8930418509650173 ] ] }, { "task_id": "0003206", "id": "RH20T_cfg3_task_0013_user_0011_scene_0006_cfg_0003_104122062823#198", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003206/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.0691605107573165, -0.9976055451689246 ], [ 0.9999999998, 0.0 ], [ -0.9997666106528214, 0.021603801141695977 ], [ 0.12198822586804753, 0.992531547483286 ] ] }, { "task_id": "0003207", "id": "RH20T_cfg6_task_0089_user_0020_scene_0004_cfg_0006_104122064161#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block to the right of the golden piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003207/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9599934937838605, 0.2800223060626727 ], [ 0.5099559427208091, -0.8602005210901299 ], [ -0.9388352950779648, -0.344366503475397 ], [ -0.4061384660328291, 0.9138115485738655 ] ] }, { "task_id": "0003208", "id": "RH20T_cfg3_task_0021_user_0010_scene_0008_cfg_0003_104122062823#230", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003208/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067811151189, 0.7071067811151189 ], [ 0.7083711065573323, -0.705840191116049 ], [ -0.6435671935156737, -0.7653896180576003 ], [ -0.7644783801784077, 0.6446493668962981 ] ] }, { "task_id": "0003209", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#98", "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 block in the 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003209/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9915345522224387, -0.12984310435694316 ], [ -0.14373987270968783, -0.9896155056350939 ], [ -0.984251370348807, 0.17677454558418615 ], [ 0.1643989872918438, 0.9863939237510627 ] ] }, { "task_id": "0003210", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#259", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003210/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.624695047540487, -0.7808688094256088 ], [ -0.7119021077417178, 0.7022787117611494 ], [ 0.7219671014561392, 0.6919273837730524 ], [ 0.7751098140738045, -0.6318265395869915 ] ] }, { "task_id": "0003211", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#339", "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 block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003211/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3465299415500633, 0.9380389115646055 ], [ -0.9517086177313333, -0.30700277991333336 ], [ 0.9575857214209594, 0.2881485487221837 ], [ 0.4118691033933069, -0.9112430200939778 ] ] }, { "task_id": "0003212", "id": "RH20T_cfg3_task_0054_user_0010_scene_0010_cfg_0003_104122062823#416", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the moving object', and now you are performing subtask 'pick up the object 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003212/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6434419620433129, -0.7654948997098883 ], [ -0.817759745150885, -0.5755597268839782 ], [ -0.5048516313623445, 0.8632061343102119 ], [ 0.8320502943122027, 0.5547001962081352 ] ] }, { "task_id": "0003214", "id": "RH20T_cfg6_task_0044_user_0014_scene_0007_cfg_0006_104122064161#178", "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 of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003214/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7116986071131632, 0.7024849412145313 ], [ -0.7719302355819981, -0.6357072528322338 ], [ 0.8435575661554454, 0.5370387626437234 ], [ 0.5156469588387617, -0.8568011518668357 ] ] }, { "task_id": "0003215", "id": "RH20T_cfg3_task_0006_user_0016_scene_0001_cfg_0003_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block on the desk to the left', and now you are performing subtask 'push the square on the desktop to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003215/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9504145591186872, -0.31098579680627114 ], [ -0.32116488771071144, -0.94702329163636 ], [ -0.9162785876265712, 0.400541570697794 ], [ 0.3162277659835046, 0.9486832979505138 ] ] }, { "task_id": "0003216", "id": "RH20T_cfg7_task_0047_user_0020_scene_0008_cfg_0007_104122064161#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the cup off the cup rack and put it on the table', 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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003216/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9058165268899738, 0.42367017786597333 ], [ 0.3583828819218445, 0.9335746943578715 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.9336820975917964, -0.3581029749060782 ] ] }, { "task_id": "0003217", "id": "RH20T_cfg2_task_0006_user_0003_scene_0001_cfg_0002_104122061850#330", "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 'push the small block from the left position to the right position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003217/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44552581896032445, -0.895269090631265 ], [ -0.9136096199690817, -0.4065925015294186 ], [ -0.3521530884303934, 0.9359424139918735 ], [ 0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0003218", "id": "RH20T_cfg3_task_0014_user_0011_scene_0004_cfg_0003_104422070011#158", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003218/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.20141158749931407, 0.9795066985074712 ], [ 0.9998544805235157, -0.017059243155860503 ], [ -0.053737157418398504, -0.9985551151101226 ], [ -0.9899494935211665, 0.1414213562173095 ] ] }, { "task_id": "0003219", "id": "RH20T_cfg6_task_0048_user_0014_scene_0007_cfg_0006_104122064161#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel clockwise', and now you are performing subtask 'rotate the steering wheel 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003219/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996858721368924, -0.0792003133245956 ], [ 0.13147776596763705, -0.9913191196865717 ], [ 0.0, 0.9999999989999999 ], [ -0.9996284000837182, 0.027259158939075788 ] ] }, { "task_id": "0003220", "id": "RH20T_cfg5_task_0104_user_0007_scene_0010_cfg_0005_104122063678#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the plate to the left on the workbench', and now you are performing subtask 'slide the plate to the left on the workbench'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003220/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.036069421982277715, -0.999349286685023 ], [ -0.9931970494579146, 0.11644578544581499 ], [ 0.9999999995, 0.0 ], [ 0.07798466415539786, 0.9969545587219961 ] ] }, { "task_id": "0003221", "id": "RH20T_cfg2_task_0091_user_0007_scene_0003_cfg_0002_037522062165#213", "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 from the blue 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003221/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9995581573424761, 0.029723561195016474 ], [ 0.1101646170698866, -0.9939133549489337 ], [ -0.9910100001656676, 0.13378781548273852 ] ] }, { "task_id": "0003222", "id": "RH20T_cfg3_task_0018_user_0011_scene_0009_cfg_0003_104122062823#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pick up the block from the tower of stacked blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003222/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.961122570006399, 0.2761220842748633 ], [ -0.12403473457382384, 0.9922778765905907 ], [ 0.24613218620807248, -0.9692362699117459 ], [ -0.9724786168202031, -0.23299214542010765 ] ] }, { "task_id": "0003223", "id": "RH20T_cfg2_task_0014_user_0006_scene_0003_cfg_0002_037522062165#234", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003223/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9779250609446468, 0.2089559168255561 ], [ 0.24103272344821475, -0.9705169891491527 ], [ -0.9639648793679781, -0.26602953096428855 ], [ -0.2747211278596422, 0.9615239475087477 ] ] }, { "task_id": "0003224", "id": "RH20T_cfg5_task_0092_user_0007_scene_0010_cfg_0005_104122063678#196", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003224/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7414221150202944, 0.6710389313287518 ], [ 0.5231732301886654, -0.8522263614873444 ], [ -0.6787574687120566, -0.7343625117526096 ], [ -0.624695047521904, 0.7808688094023799 ] ] }, { "task_id": "0003225", "id": "RH20T_cfg7_task_0063_user_0014_scene_0009_cfg_0007_104122064161#116", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003225/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7643425288511857, 0.6448104361666105 ], [ 0.7067098272057871, -0.7075035124511868 ], [ -0.6786474453457091, -0.7344641890015762 ], [ -0.6401843995825127, 0.7682212794990152 ] ] }, { "task_id": "0003226", "id": "RH20T_cfg5_task_0104_user_0007_scene_0006_cfg_0005_104122063678#245", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold the plate', and now you are performing subtask 'press the plate in a fixed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003226/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994666715443205, -0.032655359010696536 ], [ -0.0879577633324898, -0.9961242050414927 ], [ -0.990566921655888, 0.1370298278521061 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003227", "id": "RH20T_cfg1_task_0012_user_0001_scene_0008_cfg_0001_819112070044#690", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003227/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.591219438197081, 0.8065107413407017 ], [ -0.7071067810198809, -0.7071067810198809 ], [ 0.7520768935544307, 0.6590753721552015 ], [ 0.6975136302950614, -0.7165715146114898 ] ] }, { "task_id": "0003228", "id": "RH20T_cfg6_task_0031_user_0020_scene_0007_cfg_0006_104122064161#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003228/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6909172074227111, -0.7229338921970683 ], [ -0.6433201326148458, -0.7655972877253533 ], [ -0.6839153938213617, 0.729561329905973 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003229", "id": "RH20T_cfg6_task_0062_user_0014_scene_0001_cfg_0006_104122063633#92", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003229/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9630318342579262, 0.26938761331177463 ], [ 0.23422342656502074, -0.9721827947706853 ], [ -0.9342786901285303, -0.35654358663663777 ], [ -0.21693045779512676, 0.9761870600780704 ] ] }, { "task_id": "0003230", "id": "RH20T_cfg2_task_0205_user_0007_scene_0002_cfg_0002_105422061350#237", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the kitchen knife on the knife 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003230/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8889496153578668, -0.4580050014520591 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.3274888137494837, -0.9448550560106856 ], [ -0.9517447385553399, 0.30689078290529986 ] ] }, { "task_id": "0003231", "id": "RH20T_cfg6_task_0124_user_0020_scene_0006_cfg_0006_104122064161#132", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003231/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6326963034815544, -0.7744000177949228 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7665789229511437, -0.642150103081098 ], [ -0.7999177431068684, 0.6001096601978794 ] ] }, { "task_id": "0003232", "id": "RH20T_cfg2_task_0006_user_0013_scene_0007_cfg_0002_105422061350#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the gripper to push the small block from back to front', and now you are performing subtask 'push the small piece from the back to the front 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003232/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9836540616634383, -0.1800685618674751 ], [ -0.07220723603862153, -0.9973896505697575 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.9544143135910822, 0.2984850381718714 ] ] }, { "task_id": "0003233", "id": "RH20T_cfg5_task_0041_user_0010_scene_0009_cfg_0005_104122063678#418", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'clean the dirt on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003233/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6498992842140484, 0.7600203420817547 ], [ 0.8039066880831117, -0.5947554428966939 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6620024923419957, -0.7495016345098828 ] ] }, { "task_id": "0003234", "id": "RH20T_cfg5_task_0009_user_0007_scene_0001_cfg_0005_104122063678#211", "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 Hanoi block from the pillar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003234/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9375642674828613, 0.34781208193408947 ], [ -0.31622776596683794, 0.9486832979005138 ], [ 0.26299197797622914, -0.9647980200643815 ], [ -0.9099228089501421, -0.41477762928138157 ] ] }, { "task_id": "0003235", "id": "RH20T_cfg6_task_0028_user_0014_scene_0002_cfg_0006_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer to close it completely'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003235/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995618052238116, -0.029600634076235945 ], [ -0.09053574603432181, 0.9958932063775399 ], [ -0.0028844789119696706, -0.99999583988205 ], [ -0.9999880116132739, -0.004896593686522945 ] ] }, { "task_id": "0003236", "id": "RH20T_cfg5_task_0064_user_0007_scene_0001_cfg_0005_104122063678#233", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003236/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9235352834133432, 0.38351346819979587 ], [ 0.4460448972018714, -0.8950105863508946 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.9101238074339896, -0.414336403351019 ] ] }, { "task_id": "0003237", "id": "RH20T_cfg4_task_0088_user_0014_scene_0001_cfg_0004_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the cube to a specified position', and now you are performing subtask 'pick up the cube to the right of the box 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003237/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.45572336813247155, 0.890121458980737 ], [ -0.8320502941070744, -0.554700196071383 ], [ 0.8274909969528673, 0.5614789844348137 ], [ 0.4222060254681675, -0.9064999018523792 ] ] }, { "task_id": "0003238", "id": "RH20T_cfg5_task_0025_user_0010_scene_0008_cfg_0005_104122063678#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper', and now you are performing subtask 'fold a piece of paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003238/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.8369866317632317, 0.5472233348913772 ], [ 0.31744736481840097, -0.9482758936985866 ], [ -0.8478723532630269, -0.5302004079329032 ] ] }, { "task_id": "0003239", "id": "RH20T_cfg2_task_0080_user_0014_scene_0001_cfg_0002_105422061350#-12", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the paper with the back side facing up on the table', and now you are performing subtask 'pick up the paper 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003239/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8728754047854036, -0.4879431603380847 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.30966040317889065, -0.9508472194327998 ], [ -0.9527017860668914, 0.3039067403414331 ] ] }, { "task_id": "0003240", "id": "RH20T_cfg4_task_0029_user_0016_scene_0007_cfg_0004_104122062823#106", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003240/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4202294566964123, -0.9074178771242267 ], [ 0.9284766907128456, -0.3713906762851382 ], [ -0.9362809864725441, 0.35125192436483504 ], [ 0.2869844479966404, 0.9579352413436222 ] ] }, { "task_id": "0003241", "id": "RH20T_cfg4_task_0201_user_0010_scene_0002_cfg_0004_104122062823#234", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003241/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067810615475, 0.7071067810615475 ], [ 0.693227378412599, 0.7207189478702466 ], [ 0.6907380079362085, -0.7231051129623676 ], [ -0.7403710276681004, -0.67219843899676 ] ] }, { "task_id": "0003242", "id": "RH20T_cfg7_task_0035_user_0020_scene_0007_cfg_0007_104122064161#97", "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 square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003242/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9011623401209098, -0.43348176057108284 ], [ -0.421153037521501, -0.9069895914432607 ], [ 0.48564293113146223, 0.8741572760366321 ], [ -0.851398994607342, 0.5245185906920813 ] ] }, { "task_id": "0003244", "id": "RH20T_cfg3_task_0086_user_0010_scene_0008_cfg_0003_104122062823#327", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'twist a number clockwise in an old rotary phone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003244/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2196368665820129, 0.9755816966497656 ], [ -0.9915344613104481, 0.12984379850493963 ], [ 0.9664637003904334, -0.2568032628835364 ], [ -0.28332604163270886, -0.9590236462844597 ] ] }, { "task_id": "0003245", "id": "RH20T_cfg5_task_0089_user_0007_scene_0003_cfg_0005_104122063678#229", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block to the right side of the table', and now you are performing subtask 'push the block to the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003245/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9382928404821406, -0.3458417925872411 ], [ -0.4781820016465339, -0.8782607661175093 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.8791031911628814, 0.47663149212702927 ] ] }, { "task_id": "0003246", "id": "RH20T_cfg4_task_0217_user_0010_scene_0002_cfg_0004_104122062823#143", "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 on the green fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003246/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, 0.8944271907999158 ], [ 0.95041910687766, -0.31097189789733615 ], [ -0.4580707676405956, -0.8889157281953984 ], [ -0.9378793525871929, 0.34696155405264734 ] ] }, { "task_id": "0003247", "id": "RH20T_cfg4_task_0085_user_0007_scene_0007_cfg_0004_104122062823#86", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003247/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.912179010638681, -0.4097919625251782 ], [ -0.5043020541585788, -0.8635273233496656 ], [ -0.8575090213378063, 0.5144689284342425 ], [ 0.4327310675691666, 0.9015230574357638 ] ] }, { "task_id": "0003248", "id": "RH20T_cfg2_task_0083_user_0007_scene_0005_cfg_0002_037522062165#244", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003248/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.992978270060935, 0.11829689423984481 ], [ 0.12830466735062104, -0.9917347993975236 ], [ -0.2248595066819045, 0.9743911956215862 ], [ -0.9273515634887546, -0.374191231451196 ] ] }, { "task_id": "0003249", "id": "RH20T_cfg2_task_0016_user_0003_scene_0001_cfg_0002_037522062165#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003249/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8469853493753414, 0.5316162318284976 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.5265519031483895, -0.8501429840272806 ], [ -0.9099981926370468, -0.4146122156875124 ] ] }, { "task_id": "0003250", "id": "RH20T_cfg4_task_0093_user_0014_scene_0004_cfg_0004_038522062288#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003250/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4019722746224229, -0.9156518390932634 ], [ -0.8775852316553012, 0.47942065159994035 ], [ 0.8479983039152004, -0.5299989399470002 ], [ 0.64807714766187, 0.761574691463979 ] ] }, { "task_id": "0003251", "id": "RH20T_cfg6_task_0009_user_0014_scene_0001_cfg_0006_104122064161#38", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a purple Hanoi block and place it on the table', and now you are performing subtask 'pick up the purple Hanoi block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003251/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7513844511323386, -0.6598646880963962 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6779942708742557, -0.7350671864950077 ], [ -0.6611297183046976, 0.7502716145332644 ] ] }, { "task_id": "0003252", "id": "RH20T_cfg4_task_0109_user_0015_scene_0007_cfg_0004_104122062823#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003252/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9430377235552129, 0.33268581567569433 ], [ 0.38349995913958784, -0.9235408931606301 ], [ -0.4472135952999579, 0.8944271905999158 ], [ -0.8628080726487758, -0.5055316308324386 ] ] }, { "task_id": "0003253", "id": "RH20T_cfg2_task_0010_user_0013_scene_0001_cfg_0002_105422061350#441", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the handset of the telephone on the phone cradle', and now you are performing subtask 'pick up the handset 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003253/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, 0.9615239475087477 ], [ 0.9833053341494297, -0.18196323758737215 ], [ -0.3765617575480822, -0.9263915169906832 ], [ -0.9702051303099816, 0.24228496676474132 ] ] }, { "task_id": "0003254", "id": "RH20T_cfg3_task_0077_user_0010_scene_0010_cfg_0003_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the green Lego on top of the purple Lego', and now you are performing subtask 'pick up the green Lego 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003254/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.992528976427301, -0.12200914290402252 ], [ -0.04639744718741838, -0.9989230585457975 ], [ -0.9888544105834122, -0.1488857100924484 ] ] }, { "task_id": "0003255", "id": "RH20T_cfg4_task_0125_user_0010_scene_0002_cfg_0004_104122062823#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever located 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003255/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9997923431345981, 0.020378189552313873 ], [ 0.061431421996144854, -0.9981113066144134 ], [ 0.0, 0.9999999995 ], [ -0.9997325942045637, -0.023124447777477623 ] ] }, { "task_id": "0003256", "id": "RH20T_cfg4_task_0329_user_0014_scene_0006_cfg_0004_038522062288#610", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003256/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999995 ], [ -0.9925562755976579, -0.1217868620652743 ], [ 0.03363499581421501, 0.9994341834541072 ], [ 0.9999780022686323, -0.006632871085367323 ] ] }, { "task_id": "0003257", "id": "RH20T_cfg4_task_0126_user_0010_scene_0007_cfg_0004_104122062823#127", "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 cord on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003257/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07733192973940332, 0.9970054025143394 ], [ 0.997019834605558, -0.07714563761552377 ], [ -0.9999999998, 0.0 ], [ 0.13516828507768847, -0.990822655528807 ] ] }, { "task_id": "0003258", "id": "RH20T_cfg7_task_0002_user_0020_scene_0008_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin and place it on the table', and now you are performing subtask 'pick up a napkin from the tissue 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003258/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8931287209454185, -0.44980116476327736 ], [ -0.575987222050078, -0.8174586962257079 ], [ -0.7891124982841039, 0.614248699674505 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0003259", "id": "RH20T_cfg2_task_0015_user_0003_scene_0003_cfg_0002_037522062165#244", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick on the drum'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003259/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5876337475663639, -0.8091270473300908 ], [ 0.8320502941070744, -0.554700196071383 ], [ -0.897847106515112, 0.4403073623304989 ], [ 0.5305363171002976, 0.8476622064464433 ] ] }, { "task_id": "0003260", "id": "RH20T_cfg4_task_0019_user_0016_scene_0007_cfg_0004_104122062823#180", "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 bowl 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003260/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.455849664999969, 0.8900567863453523 ], [ 0.9740653411753577, -0.2262669023983272 ], [ -0.3027469400346093, -0.9530709786262935 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0003261", "id": "RH20T_cfg4_task_0053_user_0014_scene_0008_cfg_0004_038522062288#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use a clamp', and now you are performing subtask 'pick up the clamp 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003261/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.99158323340468, -0.12947081227334548 ], [ 0.0, -0.9999999989999999 ], [ -0.11543836038437584, 0.9933146454934444 ], [ 0.9991700500716009, -0.04073341429237935 ] ] }, { "task_id": "0003262", "id": "RH20T_cfg3_task_0021_user_0010_scene_0005_cfg_0003_104122062823#282", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003262/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9081596682194865, 0.41862395657615237 ], [ 0.5424491936883818, 0.8400886097709125 ], [ -0.4472135953999579, -0.8944271907999158 ], [ 0.8626705631847339, -0.5057662497780316 ] ] }, { "task_id": "0003263", "id": "RH20T_cfg7_task_0014_user_0020_scene_0004_cfg_0007_104122064161#102", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003263/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7312782880816883, -0.682079222217123 ], [ 0.6401843995825127, 0.7682212794990152 ], [ -0.5620014728101316, -0.8271362309554835 ], [ -0.7611449532929665, 0.6485818067727833 ] ] }, { "task_id": "0003264", "id": "RH20T_cfg5_task_0006_user_0010_scene_0010_cfg_0005_104122063678#371", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the square block on the table upward', and now you are performing subtask 'push the square on the table up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003264/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, 0.7071067809365474 ], [ 0.6990339315554589, 0.7150884997915419 ], [ 0.7399505533429195, -0.6726612658742195 ], [ -0.7122919187026487, -0.7018833397017621 ] ] }, { "task_id": "0003265", "id": "RH20T_cfg2_task_0082_user_0014_scene_0001_cfg_0002_105422061350#72", "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 'scoop water with a large 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003265/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05549032135917027, -0.998459225124119 ], [ -0.9983230924599131, -0.057887848995069 ], [ 0.9999999989999999, 0.0 ], [ -0.002853245198185747, 0.9999959294876349 ] ] }, { "task_id": "0003266", "id": "RH20T_cfg6_task_0022_user_0014_scene_0003_cfg_0006_104122064161#43", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003266/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9755061229567992, -0.21997228023956625 ], [ -0.441450530369687, -0.8972855895623879 ], [ -0.9199206434477983, 0.3921045903309329 ], [ 0.32711056387127724, 0.9449860734059121 ] ] }, { "task_id": "0003267", "id": "RH20T_cfg5_task_0051_user_0007_scene_0004_cfg_0005_104122063678#191", "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 dish from the dish 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003267/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5771856157862768, 0.8166129835665219 ], [ 0.8188977299185435, -0.5739394636494832 ], [ -0.79999999992, 0.59999999994 ], [ -0.5311765282896709, -0.8472611733073412 ] ] }, { "task_id": "0003268", "id": "RH20T_cfg4_task_0075_user_0007_scene_0007_cfg_0004_104122062823#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black piece on the chessboard', and now you are performing subtask 'pick up the black chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003268/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3887299138780246, -0.9213517537055995 ], [ -0.9294869248558443, -0.3688550616733165 ], [ -0.33371430716744904, 0.9426742603846514 ], [ 0.9578262851294083, 0.28734788553882246 ] ] }, { "task_id": "0003269", "id": "RH20T_cfg1_task_0006_user_0004_scene_0010_cfg_0001_039422060546#209", "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 a small piece from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003269/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.840375206527618, 0.5420050850810013 ], [ 0.43941279212425466, 0.8982852543137768 ], [ 0.8629278263256733, -0.5053271876248582 ], [ -0.44721359543329126, -0.8944271908665825 ] ] }, { "task_id": "0003270", "id": "RH20T_cfg6_task_0026_user_0014_scene_0005_cfg_0006_104122064161#38", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer closed', and now you are performing subtask 'push the handle of the drawer to close 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003270/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8667216525996887, -0.49879211793578354 ], [ -0.5488285131353853, -0.8359349634807737 ], [ -0.7540060840609181, 0.6568674335047521 ], [ 0.59999999988, 0.79999999984 ] ] }, { "task_id": "0003271", "id": "RH20T_cfg5_task_0014_user_0010_scene_0006_cfg_0005_104122063678#256", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003271/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998064784411717, 0.019672459608883815 ], [ 0.09191491816638589, -0.9957668641898396 ], [ 0.0, 0.9999999989999999 ], [ -0.9965334722192805, 0.08319278061577604 ] ] }, { "task_id": "0003272", "id": "RH20T_cfg6_task_0127_user_0014_scene_0008_cfg_0006_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the plug, turn on the desk lamp', and now you are performing subtask 'pick up the plug on the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003272/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999931976573551, -0.0036884466945057426 ], [ -0.1266389490449044, -0.9919488780097501 ], [ -0.9999981549541904, 0.0019209602325263556 ], [ 0.0, 0.9999999999 ] ] }, { "task_id": "0003273", "id": "RH20T_cfg4_task_0120_user_0007_scene_0005_cfg_0004_104122062823#146", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003273/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8047521984206375, -0.5936108987688408 ], [ 0.7071067810615475, -0.7071067810615475 ], [ -0.5984585216659128, 0.8011537916314508 ], [ 0.782531500785314, 0.6226109943445299 ] ] }, { "task_id": "0003274", "id": "RH20T_cfg7_task_0016_user_0014_scene_0002_cfg_0007_104122064161#77", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003274/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5657280657258855, -0.8245918721707413 ], [ -0.8811297008691917, -0.47287466653032806 ], [ -0.5357163790831649, 0.8443979874336643 ], [ 0.8837879163011159, 0.46788772039470844 ] ] }, { "task_id": "0003275", "id": "RH20T_cfg4_task_0032_user_0016_scene_0003_cfg_0004_104122062823#98", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003275/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6550504061375841, -0.7555851807830709 ], [ -0.7099192552729305, -0.7042830758954298 ], [ 0.79999999984, 0.59999999988 ], [ -0.7004734942516505, 0.7136784176720514 ] ] }, { "task_id": "0003276", "id": "RH20T_cfg2_task_0056_user_0007_scene_0010_cfg_0002_105422061350#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'receive a thing handed over by a human', and now you are performing subtask 'pick up the thing handed over by a human'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003276/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4737472975460282, 0.8806608303244985 ], [ 0.9265822902952504, 0.37609208887080886 ], [ 0.3279173440563975, -0.9447064176065485 ], [ -0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0003277", "id": "RH20T_cfg1_task_0013_user_0001_scene_0007_cfg_0001_819112070044#230", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003277/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8857225767281236, -0.46421494706018795 ], [ -0.46575552170687917, -0.8849134387043475 ], [ -0.8811812326455748, 0.47277863237801426 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003278", "id": "RH20T_cfg4_task_0095_user_0014_scene_0009_cfg_0004_038522062288#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket and put it on the table', and now you are performing subtask 'take down the picture frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003278/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2805529919817089, 0.9598385378229566 ], [ 0.9999252263957408, -0.012228721005347153 ], [ -0.9877629652777178, 0.1559625734649028 ], [ -0.0937881627387539, -0.9955921758079908 ] ] }, { "task_id": "0003279", "id": "RH20T_cfg4_task_0071_user_0007_scene_0004_cfg_0004_104122062823#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'push the window to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003279/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.870237872925416, 0.4926317534693106 ], [ -0.59999999994, 0.79999999992 ], [ 0.5672309686865615, -0.8235587581726668 ], [ -0.798123519944661, -0.6024938563264727 ] ] }, { "task_id": "0003280", "id": "RH20T_cfg6_task_0044_user_0014_scene_0003_cfg_0006_104122064161#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003280/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.17134117474390828, 0.9852117547774726 ], [ 0.9955407296542645, -0.0943326857428247 ], [ -0.30183753449763306, -0.9533593775530769 ], [ -0.9827353231976881, 0.18501698446233444 ] ] }, { "task_id": "0003281", "id": "RH20T_cfg5_task_0101_user_0007_scene_0004_cfg_0005_104122063678#167", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003281/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9999324762829006, -0.011620794927480563 ], [ -0.10273768961727439, -0.9947084834925781 ], [ -0.9997494209217035, 0.022385159519611144 ] ] }, { "task_id": "0003282", "id": "RH20T_cfg6_task_0018_user_0014_scene_0003_cfg_0006_104122063633#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play jenga', and now you are performing subtask 'pull a block out of the stack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003282/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998333333 ], [ 0.9909405844403638, 0.134300998168257 ], [ -0.02148903392762226, -0.9997690840493406 ], [ -0.9948448399521163, -0.10140879853665659 ] ] }, { "task_id": "0003283", "id": "RH20T_cfg2_task_0029_user_0003_scene_0008_cfg_0002_037522062165#155", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003283/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10504542018037882, -0.9944674251573692 ], [ -0.9989148611723542, -0.046573599055863626 ], [ 0.07873517351993344, 0.9968955674747411 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003284", "id": "RH20T_cfg2_task_0007_user_0013_scene_0010_cfg_0002_105422061350#196", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003284/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9070208879280341, -0.42108563127022103 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.26910482806810365, -0.9631108926340914 ], [ -0.957777031783248, 0.2875120125985539 ] ] }, { "task_id": "0003285", "id": "RH20T_cfg4_task_0091_user_0007_scene_0009_cfg_0004_104122062823#99", "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 orange object from the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003285/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3656552775729817, 0.9307503521261895 ], [ -0.9486832979505138, 0.3162277659835046 ], [ 0.9334970899296975, -0.3585849733226232 ], [ -0.20455665981732632, -0.978854725137688 ] ] }, { "task_id": "0003286", "id": "RH20T_cfg2_task_0216_user_0007_scene_0006_cfg_0002_105422061350#180", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the cucumber into shreds', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003286/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9949852087330683, 0.10002216955461718 ], [ 0.10372944626110596, -0.9946055509488997 ], [ 0.0, 0.9999999989999999 ], [ -0.9999435304884765, -0.01062712728075004 ] ] }, { "task_id": "0003287", "id": "RH20T_cfg5_task_0001_user_0007_scene_0005_cfg_0005_104122063678#229", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base', and now you are performing subtask 'press the red button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003287/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28317045543227093, 0.9590695976675938 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9706376646408962, -0.2405463031943477 ], [ -0.29101176590669414, -0.9567194740904292 ] ] }, { "task_id": "0003288", "id": "RH20T_cfg7_task_0038_user_0014_scene_0010_cfg_0007_104122064161#71", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003288/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996674874292626, -0.025785937579722036 ], [ -0.12403473457382384, 0.9922778765905907 ], [ 0.18733981775088315, -0.9822951657648865 ], [ -0.9994598668120079, -0.03286296748809198 ] ] }, { "task_id": "0003289", "id": "RH20T_cfg3_task_0023_user_0010_scene_0010_cfg_0003_104122062823#119", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003289/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6770565308009526, 0.735931011740166 ], [ 0.7743266936619245, 0.6327860392601847 ], [ 0.7108498228237989, -0.7033438201842493 ], [ -0.6494340785346879, -0.7604178967106185 ] ] }, { "task_id": "0003290", "id": "RH20T_cfg4_task_0126_user_0014_scene_0008_cfg_0004_038522062288#132", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003290/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.19611613511895326, 0.9805806755947664 ], [ 0.9576438713976277, 0.2879552318930216 ], [ 0.29354016500819374, -0.9559467409468806 ], [ -0.9577266421148468, -0.2876798202575566 ] ] }, { "task_id": "0003292", "id": "RH20T_cfg6_task_0092_user_0020_scene_0003_cfg_0006_104122064161#101", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003292/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3047552538727714, -0.9524306983906717 ], [ 0.9701424999100378, 0.24253562497750944 ], [ -0.9306373124083429, -0.36594288181815554 ], [ -0.14238451504932112, 0.9898114213698332 ] ] }, { "task_id": "0003293", "id": "RH20T_cfg2_task_0046_user_0007_scene_0004_cfg_0002_037522062165#173", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003293/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6197625846830583, -0.7847893593996895 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.7468957650920874, -0.6649411373102926 ], [ -0.7989743085199722, 0.6013651588885346 ] ] }, { "task_id": "0003294", "id": "RH20T_cfg3_task_0013_user_0010_scene_0007_cfg_0003_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place a block on the scale', and now you are performing subtask 'pick up the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003294/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14481768068916417, 0.9894583565566625 ], [ 0.9967859407501571, -0.08011109987276492 ], [ -0.9999999999, 0.0 ], [ 0.030339296946374394, -0.9995396575728247 ] ] }, { "task_id": "0003295", "id": "RH20T_cfg7_task_0005_user_0020_scene_0004_cfg_0007_104122064161#120", "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 small square's edge'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003295/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8049853567122538, -0.5932946784514803 ], [ -0.3967916231769427, -0.91790871429386 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.9014977356208844, 0.4327838174775229 ] ] }, { "task_id": "0003296", "id": "RH20T_cfg6_task_0102_user_0014_scene_0003_cfg_0006_104122064161#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'slide the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003296/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9732618370261211, 0.2296984906100605 ], [ 0.00930560400195034, -0.9999567019297181 ], [ -0.11043152606265141, 0.9938837345638627 ], [ -0.976683666218073, -0.21468352555057374 ] ] }, { "task_id": "0003297", "id": "RH20T_cfg6_task_0054_user_0014_scene_0004_cfg_0006_104122063633#37", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping the yellow toy on the green cloth', and now you are performing subtask 'pick up the yellow toy on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003297/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.882410679632054, 0.47047995969148 ], [ 0.49451300147061844, -0.8691702315291983 ], [ -0.7960857113075924, -0.6051838896169368 ], [ -0.4788521306423567, 0.8778955728443206 ] ] }, { "task_id": "0003298", "id": "RH20T_cfg7_task_0007_user_0020_scene_0001_cfg_0007_104122064161#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'holding a block with the gripper and sweeping it from down to up on the table', and now you are performing subtask 'pick up the square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003298/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9960423625907183, 0.08887976105222323 ], [ 0.09311880083838604, -0.995655004974324 ], [ 0.0, 0.9999999998 ], [ -0.9900153467064305, -0.14095961579738403 ] ] }, { "task_id": "0003299", "id": "RH20T_cfg6_task_0069_user_0020_scene_0002_cfg_0006_104122064161#294", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble one piece of a puzzle', and now you are performing subtask 'pick up the puzzle piece 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003299/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9963202833651351, 0.08570818487879021 ], [ -0.035450863519856046, -0.9993714205818057 ], [ -0.989729259174934, 0.14295451560911332 ] ] }, { "task_id": "0003300", "id": "RH20T_cfg7_task_0033_user_0020_scene_0010_cfg_0007_104122064161#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a small block to sweep the other small block onto the designated position', and now you are performing subtask 'pick up the block on the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003300/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5260617483439921, -0.8504463751050164 ], [ -0.7417664214390557, -0.6706583154077024 ], [ -0.63987165436708, 0.768481792847128 ], [ 0.8137334711121403, 0.5812381936515288 ] ] }, { "task_id": "0003301", "id": "RH20T_cfg6_task_0032_user_0014_scene_0006_cfg_0006_104122064161#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid onto the gift box', and now you are performing subtask 'gently push the lid of the box to cover the lid'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003301/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9453462761386661, 0.32606811894258664 ], [ 0.3620120151804098, -0.9321734285341 ], [ -0.31622776591683793, 0.9486832977505137 ], [ -0.8963514007637285, -0.4433442977516477 ] ] }, { "task_id": "0003302", "id": "RH20T_cfg3_task_0073_user_0010_scene_0002_cfg_0003_104122062823#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the cube in the drawer', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003302/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5897938637490421, 0.8075538361521022 ], [ 0.8513530181284544, -0.5245932124261345 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.43803722668876083, -0.8989568332432982 ] ] }, { "task_id": "0003303", "id": "RH20T_cfg4_task_0101_user_0007_scene_0003_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide the cloth on the tabletop to clean it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003303/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9172365615404244, -0.398342930367164 ], [ -0.1267147223055793, 0.9919392013379752 ], [ 0.9737707154561392, 0.2275315224755435 ], [ 0.2747211278596422, -0.9615239475087477 ] ] }, { "task_id": "0003304", "id": "RH20T_cfg2_task_0045_user_0007_scene_0001_cfg_0002_037522062165#299", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003304/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.875354044936303, -0.4834824671212524 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.5515357161487948, -0.8341512775343788 ], [ -0.8400093062165966, 0.5425719910477431 ] ] }, { "task_id": "0003305", "id": "RH20T_cfg1_task_0020_user_0001_scene_0010_cfg_0001_039422060546#193", "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 it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003305/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999932534195209, -0.0036732976250108506 ], [ -0.030827531622594762, -0.9995247187008723 ], [ -0.9982093047394354, 0.05981792316365679 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003306", "id": "RH20T_cfg5_task_0020_user_0010_scene_0009_cfg_0005_104122063678#478", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003306/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7044056685691156, -0.7097976148788452 ], [ -0.5985272317334285, 0.8011024609084151 ], [ 0.7071067809365474, -0.7071067809365474 ], [ 0.7159751264244616, 0.6981257897696348 ] ] }, { "task_id": "0003307", "id": "RH20T_cfg7_task_0050_user_0014_scene_0003_cfg_0007_104122064161#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the bowl rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003307/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9907030385906882, -0.136042233615806 ], [ 0.08332750375872604, -0.9965222160681314 ], [ -0.99895803741993, 0.04563813618150782 ], [ 0.0, 0.9999999999166667 ] ] }, { "task_id": "0003308", "id": "RH20T_cfg7_task_0062_user_0014_scene_0004_cfg_0007_104122064161#71", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003308/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7442615921009006, -0.6678882260703753 ], [ -0.8386408215268263, -0.544684837744553 ], [ 0.7592566023241202, 0.6507913734206744 ], [ -0.6699954156682298, 0.7423652355704409 ] ] }, { "task_id": "0003309", "id": "RH20T_cfg6_task_0060_user_0014_scene_0002_cfg_0006_104122064161#226", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the speaker knob counterclockwise', and now you are performing subtask 'twist the knob counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003309/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6303038913347256, 0.7763485071591897 ], [ 0.7496247737317762, -0.6618630512482044 ], [ -0.7415767210097356, -0.6708680696354902 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003310", "id": "RH20T_cfg3_task_0017_user_0010_scene_0007_cfg_0003_104122062823#231", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003310/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9633884804942152, 0.2681093725535295 ], [ -0.3713906762851382, -0.9284766907128456 ], [ 0.3224086114572358, 0.9466005954246052 ], [ 0.9667375528266919, -0.2557704125864816 ] ] }, { "task_id": "0003311", "id": "RH20T_cfg5_task_0013_user_0007_scene_0005_cfg_0005_104122063678#495", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003311/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7682320968862131, -0.6401714186948776 ], [ -0.6290733474052035, -0.7773459484582217 ], [ -0.7814298118866255, 0.6239931482755505 ] ] }, { "task_id": "0003312", "id": "RH20T_cfg4_task_0105_user_0015_scene_0009_cfg_0004_104122062823#100", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object from the surface of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003312/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.890769125621139, -0.45445611981813117 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.3657404619100466, -0.9307168820440649 ], [ -0.9731041843145916, 0.23036546283988266 ] ] }, { "task_id": "0003313", "id": "RH20T_cfg4_task_0046_user_0014_scene_0019_cfg_0004_104122062823#152", "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 wooden surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003313/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0516389643811492, -0.9986658186588957 ], [ -0.9999818039555919, 0.006032558140651876 ], [ 0.9999999998571428, 0.0 ], [ 0.0657531843526703, 0.9978359177477446 ] ] }, { "task_id": "0003314", "id": "RH20T_cfg3_task_0046_user_0010_scene_0006_cfg_0003_104122062823#118", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003314/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35134286734491654, -0.9362468635813166 ], [ -0.9442536909379448, 0.32921872235653366 ], [ 0.9486832979505138, -0.3162277659835046 ], [ 0.3572449228055406, 0.9340107414423366 ] ] }, { "task_id": "0003315", "id": "RH20T_cfg4_task_0010_user_0016_scene_0007_cfg_0004_104122062823#161", "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 next to the telephone'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003315/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6584378416321754, 0.7526351099349288 ], [ 0.6466963864351668, -0.7627475229534983 ], [ -0.6228579098865464, -0.7823349820196991 ] ] }, { "task_id": "0003316", "id": "RH20T_cfg6_task_0035_user_0014_scene_0005_cfg_0006_104122064161#186", "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 square 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003316/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.016464859563352814, 0.9998644450122023 ], [ -0.9999999995, 0.0 ], [ 0.9997310242709708, 0.023192220896578797 ], [ 0.043040780102955194, -0.9990733162526808 ] ] }, { "task_id": "0003317", "id": "RH20T_cfg4_task_0033_user_0016_scene_0005_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp a large block to sweep it into the designated position', and now you are performing subtask 'pick up the large piece from the left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003317/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9992905724630029, 0.03766101149151547 ], [ 0.04468209779309705, -0.9990012563239389 ], [ 0.07669649887885469, 0.9970544854251109 ], [ -0.9984901843308578, 0.054930426859161635 ] ] }, { "task_id": "0003318", "id": "RH20T_cfg4_task_0121_user_0007_scene_0004_cfg_0004_104122062823#254", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out the light bulb by rotating it', and now you are performing subtask 'twist the light bulb counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003318/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16170751398985608, -0.9868387304515467 ], [ -0.985050885350475, -0.17226361563094347 ], [ -0.1368649574371636, 0.9905897149807904 ], [ 0.9701424999100378, 0.24253562497750944 ] ] }, { "task_id": "0003319", "id": "RH20T_cfg4_task_0200_user_0010_scene_0001_cfg_0004_104122062823#428", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large straw 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003319/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.04993761694139846, 0.9987523388279693 ], [ 0.9939217755068173, 0.11008861963607322 ], [ 0.0848258805187735, -0.9963957898316386 ], [ -0.9914682764101002, -0.1303482139209638 ] ] }, { "task_id": "0003320", "id": "RH20T_cfg4_task_0201_user_0010_scene_0006_cfg_0004_104122062823#300", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the medium pipette tip is inserted into the holder for medium pipette tips', and now you are performing subtask 'push the pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003320/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, 0.8944271905999158 ], [ 0.8763385043170164, -0.48169578143410663 ], [ -0.5539542310184253, -0.8325471217515469 ], [ -0.9223394949151291, 0.3863804551471315 ] ] }, { "task_id": "0003321", "id": "RH20T_cfg3_task_0006_user_0016_scene_0009_cfg_0003_104122062823#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'use the gripper to push the small block from right to left', and now you are performing subtask 'push the small piece from right to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003321/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.712067614145308, 0.7021108978540419 ], [ 0.7915408776785275, -0.611116223777365 ], [ -0.6935512776558571, -0.7204072634711065 ], [ -0.7808688094125426, 0.624695047530034 ] ] }, { "task_id": "0003322", "id": "RH20T_cfg5_task_0026_user_0010_scene_0004_cfg_0005_104122063678#116", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003322/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.19611613511895326, 0.9805806755947664 ], [ 0.9571149397298254, -0.2897084606047477 ], [ -0.05383945141510877, -0.9985496049127055 ], [ -0.9968414351812586, 0.07941758687953585 ] ] }, { "task_id": "0003323", "id": "RH20T_cfg7_task_0002_user_0020_scene_0007_cfg_0007_104122064161#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull out the paper from the container'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003323/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7715110101506697, 0.6362159705762606 ], [ -0.5144957553392911, 0.8574929255654853 ], [ 0.4955687282879898, -0.8685687281631918 ], [ -0.8794687602145811, -0.47595661546681733 ] ] }, { "task_id": "0003324", "id": "RH20T_cfg4_task_0021_user_0016_scene_0009_cfg_0004_104122062823#95", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003324/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9741704232637509, -0.2258140527915047 ], [ -0.04492069615491898, -0.9989905560399245 ], [ -0.985354789971907, 0.17051667918247562 ], [ 0.1643989872918438, 0.9863939237510627 ] ] }, { "task_id": "0003325", "id": "RH20T_cfg4_task_0126_user_0007_scene_0007_cfg_0004_104122062823#292", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003325/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.6737311782897725, -0.7389765215487396 ], [ -0.7109724891304576, -0.7032198231702811 ], [ -0.6833206026894001, 0.7301184519926852 ] ] }, { "task_id": "0003326", "id": "RH20T_cfg2_task_0128_user_0007_scene_0004_cfg_0002_105422061350#294", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the USB drive into the black object', and now you are performing subtask 'pick up the USB drive from between the two blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003326/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9982260247134861, 0.05953825312108743 ], [ 0.01595274379868526, -0.9998727468859693 ], [ -0.9999060676274739, -0.01370605420102787 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003327", "id": "RH20T_cfg6_task_0011_user_0014_scene_0008_cfg_0006_104122064161#41", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003327/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7331713872489706, -0.6800439080819857 ], [ -0.6151856951013086, -0.7883822426607031 ], [ -0.752872564076944, 0.6581663180839687 ], [ 0.5832067830792512, 0.8123237335746714 ] ] }, { "task_id": "0003328", "id": "RH20T_cfg7_task_0062_user_0014_scene_0008_cfg_0007_104122064161#86", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003328/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2747211278596422, -0.9615239475087477 ], [ -0.9903817342253466, -0.13836191857875854 ], [ -0.20515590310820792, 0.9787293065091367 ], [ 0.9834085334517062, 0.18140467561329385 ] ] }, { "task_id": "0003329", "id": "RH20T_cfg4_task_0043_user_0014_scene_0007_cfg_0004_036422060909#194", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrewing the lid from the jar', and now you are performing subtask 'rotate the lid counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003329/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9701425000669006, -0.24253562501672515 ], [ -0.2595623990199053, 0.9657263385737346 ], [ 0.943200945628748, 0.3322227809242401 ], [ 0.19434511917374228, -0.9809332162045202 ] ] }, { "task_id": "0003330", "id": "RH20T_cfg7_task_0008_user_0014_scene_0001_cfg_0007_104122064161#71", "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 wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003330/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9837786522130212, -0.17938663119065382 ], [ -0.19197906408451818, -0.9813990212717927 ], [ 0.2747211278847994, 0.961523947596798 ], [ -0.9319471260040021, 0.36259420063327097 ] ] }, { "task_id": "0003331", "id": "RH20T_cfg6_task_0044_user_0014_scene_0009_cfg_0006_104122064161#84", "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 of things from the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003331/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9970387078050663, -0.0769013337881963 ], [ -0.10917747772198493, -0.9940222725664981 ], [ -0.9951122508651861, 0.09875023128085811 ], [ 0.11043152606874898, 0.9938837346187408 ] ] }, { "task_id": "0003332", "id": "RH20T_cfg6_task_0041_user_0014_scene_0010_cfg_0006_104122064161#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'slide the towel on the dirt on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003332/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.9912233897988123, 0.1321975473136765 ], [ 0.10261416374158823, 0.9947212340146432 ], [ 0.9940531350428975, -0.10889611889955951 ] ] }, { "task_id": "0003333", "id": "RH20T_cfg2_task_0009_user_0013_scene_0010_cfg_0002_105422061350#307", "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 red Hanoi block from the board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003333/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0028545792378193977, 0.9999959256803874 ], [ 0.9942180461851348, -0.10738005699296946 ], [ -0.08021822342248701, -0.9967773255000035 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0003334", "id": "RH20T_cfg6_task_0081_user_0020_scene_0010_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 to unfold 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003334/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7277362841097355, -0.68585705565384 ], [ -0.6051837550129319, -0.7960858136334598 ], [ -0.729260789625187, 0.6842358516734188 ], [ 0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003335", "id": "RH20T_cfg2_task_0017_user_0006_scene_0008_cfg_0002_037522062165#264", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003335/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067810198809, -0.7071067810198809 ], [ -0.7869488023072039, -0.6170183000100219 ], [ -0.709864063873085, 0.704338704617025 ], [ 0.7501352251955936, 0.6612844652044657 ] ] }, { "task_id": "0003336", "id": "RH20T_cfg4_task_0124_user_0010_scene_0009_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the lever down'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003336/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.291875282017666, -0.9564563867459446 ], [ 0.9847835587608899, -0.17378533389898057 ], [ -0.9819052923479028, 0.18937264020755398 ], [ 0.12596521243449313, 0.9920346593019486 ] ] }, { "task_id": "0003337", "id": "RH20T_cfg7_task_0001_user_0020_scene_0004_cfg_0007_104122064161#65", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003337/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998471539297123, 0.05526830206939543 ], [ -0.036424505658821424, -0.9993364075162631 ], [ -0.9889294170082393, 0.14838668463087898 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003339", "id": "RH20T_cfg5_task_0039_user_0007_scene_0008_cfg_0005_104122063678#295", "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 filled with water 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003339/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998561092485493, -0.016963513738408192 ], [ -0.03723919872988043, -0.9993063804849623 ], [ -0.9975740578853035, 0.06961321019928 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0003340", "id": "RH20T_cfg7_task_0050_user_0020_scene_0005_cfg_0007_104122064161#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the yellow basket on the stand', and now you are performing subtask 'pick up the yellow basket 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003340/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9308148396696463, -0.36549108641767264 ], [ -0.22117219088875922, -0.9752347727483195 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9515874745529128, 0.3073780705808556 ] ] }, { "task_id": "0003341", "id": "RH20T_cfg6_task_0021_user_0014_scene_0004_cfg_0006_104122063633#153", "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 desk lamp button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003341/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.41905817743247864, 0.907959384437037 ], [ 0.9472230653379101, 0.3205752087917178 ], [ 0.5248485182105609, -0.8511956490326879 ], [ -0.9368646276535366, -0.34969224963044326 ] ] }, { "task_id": "0003342", "id": "RH20T_cfg5_task_0020_user_0010_scene_0005_cfg_0005_104122063678#403", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003342/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999764257903415, -0.006866430191426807 ], [ -0.04907792882629107, -0.998794952381179 ], [ 0.0, 0.9999999995 ], [ -0.9925371062134399, -0.1219429899151679 ] ] }, { "task_id": "0003343", "id": "RH20T_cfg3_task_0069_user_0010_scene_0006_cfg_0003_104122062823#293", "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 the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003343/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.33478404390380917, -0.9422948816306987 ], [ -0.8528200973483392, -0.5222048272074561 ], [ -0.5458409053483896, 0.8378888387181502 ] ] }, { "task_id": "0003344", "id": "RH20T_cfg1_task_0008_user_0001_scene_0002_cfg_0001_819112070044#300", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003344/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6400398226502125, 0.7683417373941654 ], [ 0.7119691289439264, 0.7022107656756814 ], [ 0.7312170834075331, -0.682144835744566 ], [ -0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0003345", "id": "RH20T_cfg7_task_0045_user_0020_scene_0006_cfg_0007_104122064161#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003345/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9996143738971544, -0.027768750389603348 ], [ -0.055378831818734604, -0.9984654150176622 ], [ 0.0, 0.9999999999090909 ], [ -0.9893543842025566, -0.14552629473459464 ] ] }, { "task_id": "0003347", "id": "RH20T_cfg3_task_0007_user_0016_scene_0010_cfg_0003_104122062823#209", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the block to the left side of the table', and now you are performing subtask 'pull the square 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003347/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9772789212048673, -0.21195733100945285 ], [ -0.2926188129562376, -0.956229172481201 ], [ -0.9857050498502143, 0.16848013146892518 ] ] }, { "task_id": "0003348", "id": "RH20T_cfg4_task_0107_user_0007_scene_0013_cfg_0004_104122062823#158", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003348/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3327136068657283, -0.9430279188902084 ], [ 0.9761870600780704, -0.21693045779512676 ], [ -0.9924637046445413, 0.12253895284044469 ], [ 0.1861145034763676, 0.9825280614800501 ] ] }, { "task_id": "0003349", "id": "RH20T_cfg4_task_0107_user_0007_scene_0013_cfg_0004_104122062823#251", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the garbage in the trash can', and now you are performing subtask 'press down on the lid of the trash can'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003349/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9775839035541131, 0.21054622179441418 ], [ 0.33904486834521, 0.9407702042734875 ], [ 0.8902363069261, -0.4554989767612862 ], [ -0.31622776601017133, -0.9486832980305139 ] ] }, { "task_id": "0003350", "id": "RH20T_cfg3_task_0017_user_0011_scene_0002_cfg_0003_104122062823#168", "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 desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003350/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3615129090650169, 0.9323671039774778 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.8304151608421583, -0.5571450983751831 ], [ -0.31481424705295014, -0.9491533015548563 ] ] }, { "task_id": "0003351", "id": "RH20T_cfg6_task_0035_user_0014_scene_0009_cfg_0006_104122064161#144", "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 block on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003351/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.938454345222335, 0.34540330330400515 ], [ 0.3795952280099488, -0.9251526700345598 ], [ -0.3713906762851382, 0.9284766907128456 ], [ -0.9322444777556855, -0.3618290116809722 ] ] }, { "task_id": "0003352", "id": "RH20T_cfg6_task_0092_user_0020_scene_0009_cfg_0006_104122064161#104", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003352/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8282624319957261, -0.5603403820398145 ], [ 0.6246950474568633, 0.7808688093210792 ], [ -0.6540111896578547, -0.7564848734788541 ], [ -0.8543814542240661, 0.5196463515487914 ] ] }, { "task_id": "0003353", "id": "RH20T_cfg2_task_0008_user_0013_scene_0009_cfg_0002_105422061350#235", "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 block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003353/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995506392825324, 0.02997531500886817 ], [ 0.030983611382664006, -0.9995198926613158 ], [ 0.0, 0.9999999989999999 ], [ -0.9967792329216884, 0.08019451861599121 ] ] }, { "task_id": "0003354", "id": "RH20T_cfg4_task_0044_user_0014_scene_0005_cfg_0004_104122062823#137", "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 of items on the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003354/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.970040828898606, 0.24294194835331612 ], [ 0.3087811461512491, -0.9511331157001742 ], [ -0.9503911733317137, -0.31105725783715193 ], [ -0.2631174057805703, 0.9647638211954245 ] ] }, { "task_id": "0003355", "id": "RH20T_cfg2_task_0008_user_0003_scene_0005_cfg_0002_104122061850#242", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the block on the black circle', and now you are performing subtask 'pick up the block from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003355/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9319082668236455, -0.36269406147019984 ], [ -0.1731425103656136, -0.9848967819544815 ], [ -0.9694500334247662, 0.24528887600688282 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0003356", "id": "RH20T_cfg6_task_0016_user_0014_scene_0007_cfg_0006_104122064161#85", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003356/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.48564293115504714, 0.8741572760790849 ], [ 0.936486457586468, 0.3507037421487664 ], [ 0.533120262158403, -0.8460394707554464 ], [ -0.9263270048032685, -0.3767204270705337 ] ] }, { "task_id": "0003357", "id": "RH20T_cfg4_task_0091_user_0014_scene_0006_cfg_0004_104122062823#84", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003357/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44001564008280153, -0.8979901093455999 ], [ -0.9794703391957044, -0.20158832961223677 ], [ 0.9550641367797839, 0.29639921486269155 ], [ -0.3482095180734602, 0.937416733114493 ] ] }, { "task_id": "0003358", "id": "RH20T_cfg6_task_0216_user_0014_scene_0002_cfg_0006_104122064161#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the kitchen knife from the knife rack and place it above the cutting board, chop the cucumber into shreds, and then move it back to the knife rack', and now you are performing subtask 'pick up the chef's knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003358/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9992426497934945, -0.03891178271006948 ], [ -0.12260348436790232, -0.992455734842038 ], [ -0.9999989246301704, 0.001466539635645969 ], [ 0.0, 0.9999999998 ] ] }, { "task_id": "0003360", "id": "RH20T_cfg6_task_0043_user_0014_scene_0006_cfg_0006_104122064161#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrew the lid from the jar', and now you are performing subtask 'rotate the lid 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003360/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7370772553394812, -0.6758084933331464 ], [ 0.554700196071383, 0.8320502941070744 ], [ -0.4616758202765649, -0.8870487229977624 ], [ -0.9004358908406856, 0.4349887429416316 ] ] }, { "task_id": "0003361", "id": "RH20T_cfg3_task_0028_user_0011_scene_0006_cfg_0003_104122062823#169", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the handle of the drawer to close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003361/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5632888238836753, 0.8262600685545357 ], [ -0.8944271905999158, -0.4472135952999579 ], [ 0.9403446688066468, 0.340223314672757 ], [ 0.5373976148714983, -0.843329000764485 ] ] }, { "task_id": "0003362", "id": "RH20T_cfg4_task_0071_user_0015_scene_0008_cfg_0004_104122062823#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull the handle of the sliding window to close the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003362/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9999999044917753, 0.00043705427610156005 ], [ -0.0701475153976087, -0.9975366289432896 ], [ -0.9934974981236454, -0.1138539468883586 ] ] }, { "task_id": "0003363", "id": "RH20T_cfg3_task_0066_user_0010_scene_0001_cfg_0003_104122062823#161", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the white block to the top of the green block structure', and now you are performing subtask 'pick up the white block beside the green 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003363/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9162096331254586, -0.40069927398001676 ], [ -0.49906055058373266, -0.8665671161837736 ], [ -0.9251858714523069, 0.37951429915753554 ], [ 0.5038710254878168, 0.8637789008362573 ] ] }, { "task_id": "0003364", "id": "RH20T_cfg5_task_0056_user_0010_scene_0006_cfg_0005_104122063678#306", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'received the gray plush toy handed over by a person and placed it on the table', and now you are performing subtask 'receive the gray plush toy from a human hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003364/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5481008450512361, -0.8364122569965848 ], [ 0.8944271907999158, 0.4472135953999579 ], [ -0.9399646567162433, -0.34127180388118056 ], [ -0.5739454235984791, 0.8188935527468527 ] ] }, { "task_id": "0003365", "id": "RH20T_cfg1_task_0079_user_0014_scene_0010_cfg_0001_819112070044#277", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003365/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9929433861116902, -0.11858934175148762 ], [ -0.13398784637499841, -0.9909829751432614 ], [ 0.0, 0.9999999989999999 ], [ -0.9882008074633866, -0.15316384732929228 ] ] }, { "task_id": "0003366", "id": "RH20T_cfg4_task_0107_user_0015_scene_0003_cfg_0004_104122062823#111", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003366/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.977692097282248, 0.2100432405764093 ], [ 0.041233893537281296, -0.9991495213549152 ], [ -0.9998037938882237, -0.019808425649562308 ], [ -0.1046847845125633, 0.9945054528693513 ] ] }, { "task_id": "0003367", "id": "RH20T_cfg2_task_0073_user_0007_scene_0004_cfg_0002_105422061350#221", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'pick up the small cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003367/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ 0.0973007509591925, -0.9952550245353085 ], [ -0.998087252935994, -0.06182099584025816 ], [ -0.08931500435585503, 0.9960034287074084 ] ] }, { "task_id": "0003368", "id": "RH20T_cfg6_task_0068_user_0014_scene_0002_cfg_0006_104122064161#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the green button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003368/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2425356250216271, 0.9701425000865084 ], [ 0.9938581124746252, 0.11066188263523852 ], [ 0.10300092033380374, -0.9946812607113846 ], [ -0.9483734809465872, -0.3171557040906774 ] ] }, { "task_id": "0003369", "id": "RH20T_cfg4_task_0086_user_0014_scene_0005_cfg_0004_104122062823#202", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the dial plate on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003369/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9981736930405932, -0.06040925857601376 ], [ -0.07153565535884852, -0.9974380431948543 ], [ -0.9982246926959398, -0.059560581697095896 ] ] }, { "task_id": "0003370", "id": "RH20T_cfg4_task_0074_user_0015_scene_0007_cfg_0004_104122062823#225", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003370/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7431712302930322, -0.6691012796765083 ], [ -0.7323149856215658, -0.6809660504269548 ], [ -0.8232756471505748, 0.5676417962137764 ], [ 0.6853646989756331, 0.7281999926616102 ] ] }, { "task_id": "0003371", "id": "RH20T_cfg4_task_0108_user_0015_scene_0010_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sharpen the pencil with a pencil sharpener', and now you are performing subtask 'shake the pencil sharpener's lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003371/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998918874263754, 0.01470419868339641 ], [ 0.2691054678403982, -0.963110713873748 ], [ -0.1414213562273095, 0.9899494935911665 ], [ -0.9665032175989695, -0.256654496104859 ] ] }, { "task_id": "0003372", "id": "RH20T_cfg4_task_0050_user_0014_scene_0005_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003372/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10971480814236284, 0.99396310840709 ], [ 0.9918455600310462, -0.12744561603562665 ], [ 0.052357926462473926, -0.9986283831018175 ], [ -0.9989685401649389, 0.04540766091658813 ] ] }, { "task_id": "0003373", "id": "RH20T_cfg7_task_0052_user_0014_scene_0005_cfg_0007_104122064161#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grab a basketball, put it into the basket', and now you are performing subtask 'pick up the basketball 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003373/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.503951355457205, -0.8637320367642072 ], [ 0.8944271908665825, 0.44721359543329126 ], [ -0.913708201570914, -0.40637091724438895 ], [ -0.5385413833059061, 0.8425990615155948 ] ] }, { "task_id": "0003375", "id": "RH20T_cfg6_task_0050_user_0014_scene_0005_cfg_0006_104122064161#146", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003375/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44721359543329126, 0.8944271908665825 ], [ 0.89290375200992, 0.45024758705250967 ], [ 0.48348700238035686, -0.8753515399708034 ], [ -0.9267322295947523, -0.37572247022282185 ] ] }, { "task_id": "0003376", "id": "RH20T_cfg3_task_0062_user_0010_scene_0007_cfg_0003_104122062823#476", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the toilet paper on the toilet paper holder', and now you are performing subtask 'pick up the tissue paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003376/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9557790086516798, 0.29408584881590144 ], [ 0.2526192997969468, -0.9675657545459638 ], [ -0.9217300824537447, -0.38783199339380603 ], [ -0.43823000749351915, 0.8988628708163611 ] ] }, { "task_id": "0003377", "id": "RH20T_cfg3_task_0075_user_0010_scene_0002_cfg_0003_104122062823#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the white pawn from the left side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003377/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8338253451632223, 0.5520283450724549 ], [ -0.59999999988, 0.79999999984 ], [ 0.6264977241969436, -0.7794232493171155 ], [ -0.7584280602530593, -0.6517567624664757 ] ] }, { "task_id": "0003378", "id": "RH20T_cfg3_task_0060_user_0010_scene_0007_cfg_0003_104122062823#113", "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 knob counterclockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003378/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5246882093560428, -0.8512944748809013 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9213667218766707, 0.3886944350235001 ], [ 0.3496343447667324, 0.9368862390704316 ] ] }, { "task_id": "0003379", "id": "RH20T_cfg4_task_0031_user_0016_scene_0009_cfg_0004_104122062823#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the blue lid from the table next to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003379/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0032592019954620524, -0.9999946887870719 ], [ 0.9999999995, 0.0 ], [ -0.9981207214286838, 0.06127826249726448 ], [ -0.08450294062057359, 0.99642322987096 ] ] }, { "task_id": "0003380", "id": "RH20T_cfg2_task_0101_user_0007_scene_0005_cfg_0002_105422061350#237", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the table with a cloth', and now you are performing subtask 'slide 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003380/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9905887690747794, 0.13687180346190117 ], [ -0.05292644895981017, -0.9985984132775821 ], [ 0.0, 0.9999999989999999 ], [ -0.9973696188612018, -0.07248340066981776 ] ] }, { "task_id": "0003381", "id": "RH20T_cfg4_task_0024_user_0014_scene_0010_cfg_0004_038522062288#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the power outlet', and now you are performing subtask 'press the button on the power 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003381/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.23092862163819441, 0.9729706941672415 ], [ 0.9335604927429537, -0.35841987443434775 ], [ -0.24470710042101054, -0.9695970477489819 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0003382", "id": "RH20T_cfg4_task_0006_user_0010_scene_0010_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block on the desk to the left', and now you are performing subtask 'push the block on the table to 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003382/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9916386832479301, 0.129045425669844 ], [ -0.18711210788124247, 0.982338566376523 ], [ 0.1595979838205474, -0.9871820924026207 ], [ -0.9920695841459535, -0.12568985723786535 ] ] }, { "task_id": "0003383", "id": "RH20T_cfg4_task_0035_user_0016_scene_0009_cfg_0004_104122062823#80", "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 square block from the cardstock'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003383/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.379918853970589, 0.9250198183631733 ], [ 0.961310742416884, -0.27546625294924854 ], [ -0.375043014908855, -0.9270074093382837 ], [ -0.9582961283097837, 0.2857770642764713 ] ] }, { "task_id": "0003384", "id": "RH20T_cfg4_task_0202_user_0010_scene_0005_cfg_0004_104122062823#268", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a small pipette into the holder for small pipette tips', and now you are performing subtask 'pick up the small suction tip from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003384/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.06060244581959901, -0.9981619826264085 ], [ -0.9955543033449206, 0.0941893257827549 ], [ -0.03189304510525555, 0.9994912874427241 ], [ 0.9999999998333333, 0.0 ] ] }, { "task_id": "0003385", "id": "RH20T_cfg4_task_0074_user_0015_scene_0001_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the red button on the right horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003385/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3551734279201241, -0.9348004258126269 ], [ -0.9422975424091451, -0.33477655468937084 ], [ 0.9363291774594555, 0.35112344154729586 ], [ -0.4286800782149668, 0.9034563578511194 ] ] }, { "task_id": "0003386", "id": "RH20T_cfg4_task_0086_user_0015_scene_0006_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the pen 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003386/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9868435373624286, 0.1616781765298244 ], [ 0.2001934754736372, -0.9797563841985345 ], [ -0.24253562501672515, 0.9701425000669006 ], [ -0.9444046549054326, -0.3287854129868765 ] ] }, { "task_id": "0003387", "id": "RH20T_cfg4_task_0103_user_0007_scene_0009_cfg_0004_104122062823#79", "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 target point'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003387/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6026660610672488, -0.7979934954858261 ], [ 0.8436614876674016, 0.5368754921519828 ], [ -0.8837681502809644, -0.46792505441466026 ], [ -0.6445383676227967, 0.7645719669606914 ] ] }, { "task_id": "0003388", "id": "RH20T_cfg7_task_0020_user_0014_scene_0006_cfg_0007_104122064161#141", "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 desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003388/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7108266508010422, 0.7033672387245323 ], [ 0.8039872772717747, -0.5946464983375572 ], [ -0.6543674685743311, -0.7561767095538066 ] ] }, { "task_id": "0003389", "id": "RH20T_cfg5_task_0042_user_0010_scene_0006_cfg_0005_104122063678#312", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid on the bottle', and now you are performing subtask 'pick up the bottle cap at the surface beside the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003389/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.025964458148104694, -0.999662866627082 ], [ -0.9950789622187082, 0.09908510962671814 ], [ 0.9999999989999999, 0.0 ], [ -0.12087567931629108, 0.9926676534217408 ] ] }, { "task_id": "0003390", "id": "RH20T_cfg4_task_0200_user_0010_scene_0005_cfg_0004_104122062823#193", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003390/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9882740396152461, -0.15269061078718352 ], [ 0.0, 0.9999999998 ], [ -0.0066664149034301595, -0.9999777792092859 ], [ -0.9998209514079848, -0.018922608848470013 ] ] }, { "task_id": "0003391", "id": "RH20T_cfg6_task_0032_user_0014_scene_0010_cfg_0006_104122064161#54", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the gift box', and now you are performing subtask 'push the lid of the gift box from the rear until it closes onto the gift 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003391/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9194124078388836, -0.39329483128043596 ], [ -0.19390030173465017, 0.9810212398247103 ], [ 0.33282011771667597, -0.9429903335305818 ], [ 0.916094048397094, 0.40096345780061177 ] ] }, { "task_id": "0003392", "id": "RH20T_cfg1_task_0026_user_0001_scene_0010_cfg_0001_039422060546#121", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the drawer', and now you are performing subtask 'push the drawer into the cabinet'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003392/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13226161911773485, 0.991214842558542 ], [ 0.9996054234743964, -0.028089096827287215 ], [ 0.1045265489062715, -0.9945220965738996 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0003393", "id": "RH20T_cfg4_task_0073_user_0007_scene_0008_cfg_0004_104122062823#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the block from the desktop and put it into the open drawer', 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003393/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8488285198918056, -0.5286682738904298 ], [ -0.4818755514286232, -0.8762396663786457 ], [ 0.40613846601221054, 0.9138115485274737 ], [ -0.9631648108812553, 0.26891178308150765 ] ] }, { "task_id": "0003394", "id": "RH20T_cfg4_task_0015_user_0016_scene_0004_cfg_0004_104122062823#131", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003394/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998616291124429, 0.05258805093260063 ], [ 0.0, 0.9999999995 ], [ -0.050668138335815086, -0.9987155449664247 ], [ -0.9974943738353885, -0.07074584204563791 ] ] }, { "task_id": "0003395", "id": "RH20T_cfg2_task_0012_user_0006_scene_0007_cfg_0002_037522062165#328", "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 towards 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003395/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.45981978657166894, -0.8880122543507971 ], [ -0.8758855293184241, -0.4825189525092087 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.46329445741824626, 0.8862044040318987 ] ] }, { "task_id": "0003396", "id": "RH20T_cfg7_task_0064_user_0014_scene_0008_cfg_0007_104122064161#100", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003396/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.59999999988, 0.79999999984 ], [ 0.8742868651939247, -0.4854095975043964 ], [ -0.5189915080173317, -0.8547793952862317 ], [ -0.7866326083031018, 0.617421363053028 ] ] }, { "task_id": "0003397", "id": "RH20T_cfg5_task_0119_user_0007_scene_0007_cfg_0005_104122063678#203", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'push the faucet handle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003397/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8907308006930962, -0.4545312318165121 ], [ 0.5812381936515288, 0.8137334711121403 ], [ -0.6572430946464387, -0.7536786546928156 ], [ -0.8683704329315071, 0.495916113077955 ] ] }, { "task_id": "0003398", "id": "RH20T_cfg6_task_0019_user_0014_scene_0009_cfg_0006_104122063633#170", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the black stone on the board', and now you are performing subtask 'pick up the black stone in the black 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003398/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, -0.7071067809365474 ], [ -0.7572626103796758, -0.6531105104964697 ], [ -0.5919052604275943, 0.806007545050381 ], [ 0.6524557275988163, 0.7578268427045186 ] ] }, { "task_id": "0003399", "id": "RH20T_cfg3_task_0076_user_0010_scene_0001_cfg_0003_104122062823#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) one on top of the other every time', and now you are performing subtask 'pick up a small Lego block from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003399/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9999957310027328, 0.00292198157253032 ], [ 0.048168819922636046, -0.9988392086753807 ], [ -0.9998943945184413, 0.01453271518332182 ] ] }, { "task_id": "0003400", "id": "RH20T_cfg5_task_0064_user_0007_scene_0005_cfg_0005_104122063678#248", "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 'slide the tissue paper to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003400/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5995198752921893, 0.8003598685151809 ], [ 0.6773058232245227, -0.7357015847652848 ], [ -0.7747319054167822, -0.632289866065622 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003401", "id": "RH20T_cfg3_task_0047_user_0010_scene_0009_cfg_0003_104122062823#113", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003401/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9647638211531168, 0.26311740576903186 ], [ 0.329497267902887, 0.9441565285716841 ], [ 0.9418161919592665, -0.3361283394231232 ], [ -0.13596319674400043, -0.9907138886334199 ] ] }, { "task_id": "0003402", "id": "RH20T_cfg2_task_0015_user_0006_scene_0004_cfg_0002_037522062165#352", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003402/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9985069161952749, -0.054625436476081535 ], [ -0.1313951998114596, 0.9913300668629529 ], [ 0.0, -0.9999999989999999 ], [ 0.996178314340455, -0.08734280759060563 ] ] }, { "task_id": "0003403", "id": "RH20T_cfg6_task_0001_user_0014_scene_0002_cfg_0006_104122064161#35", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base', and now you are performing subtask 'press the red button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003403/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6407074986161712, -0.7677850618610713 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.623090799864515, -0.7821495094444533 ], [ -0.792288804369554, 0.610146253344772 ] ] }, { "task_id": "0003404", "id": "RH20T_cfg5_task_0012_user_0007_scene_0006_cfg_0005_104122063678#202", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003404/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8142105924577667, 0.5805696436514507 ], [ 0.3067423490779434, -0.9517925883731945 ], [ -0.4472135953999579, 0.8944271907999158 ], [ -0.9303547593871988, -0.36666063558226086 ] ] }, { "task_id": "0003405", "id": "RH20T_cfg3_task_0032_user_0010_scene_0003_cfg_0003_104122062823#320", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid of the gift box onto the box', and now you are performing subtask 'push the lid of the gift box onto the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003405/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9640939821551727, -0.2655612802578376 ], [ 0.31622776599683794, 0.9486832979905138 ], [ -0.3750238007598988, -0.9270151826499929 ], [ -0.9689284581457374, 0.24734114699201232 ] ] }, { "task_id": "0003406", "id": "RH20T_cfg4_task_0109_user_0015_scene_0009_cfg_0004_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003406/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999994, 0.79999999992 ], [ 0.8025297078923664, 0.5966121587347959 ], [ 0.5770338673574413, -0.8167202188770122 ], [ -0.6989698586059347, -0.7151511286157631 ] ] }, { "task_id": "0003407", "id": "RH20T_cfg4_task_0042_user_0014_scene_0009_cfg_0004_104122062823#99", "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 next to the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003407/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9810183827521366, 0.1939147562780682 ], [ 0.26401094527852476, -0.9645196839739145 ], [ -0.9759184067761149, -0.21813588268684653 ], [ -0.2060104810392318, 0.9785497849363511 ] ] }, { "task_id": "0003408", "id": "RH20T_cfg1_task_0079_user_0010_scene_0001_cfg_0001_819112070044#288", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the microwave to 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003408/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.008371983768671182, 0.999964954329789 ], [ -0.9999999998333333, 0.0 ], [ 0.9971417327079825, -0.0755537218945728 ], [ -0.07219707644534243, -0.9973903860338464 ] ] }, { "task_id": "0003409", "id": "RH20T_cfg4_task_0201_user_0010_scene_0010_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the pharmaceutical experiment will insert a tip of a medium pipette into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003409/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1414213562173095, 0.9899494935211665 ], [ 0.9956490117973857, 0.09318285951230197 ], [ 0.045574621218021506, -0.9989609371245873 ], [ -0.9952066721555407, -0.09779406780114143 ] ] }, { "task_id": "0003410", "id": "RH20T_cfg4_task_0077_user_0015_scene_0004_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up the small Lego block from the side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003410/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5645911340956825, 0.8253707356700691 ], [ 0.7777329157936046, -0.6285948708756524 ], [ -0.5263566923959128, -0.8502638604398252 ], [ -0.7999999999466667, 0.59999999996 ] ] }, { "task_id": "0003412", "id": "RH20T_cfg4_task_0016_user_0016_scene_0001_cfg_0004_104122062823#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue stick by 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003412/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8248270639678381, -0.5653851028690055 ], [ 0.6097107608125176, 0.7926239890562728 ], [ -0.7005152491853517, -0.7136374329158923 ], [ -0.712390440377658, 0.7017833429617196 ] ] }, { "task_id": "0003414", "id": "RH20T_cfg5_task_0005_user_0010_scene_0001_cfg_0005_104122063678#326", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the wooden block to move', and now you are performing subtask 'push the wooden block to under 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003414/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9927278817025376, 0.12038003526495936 ], [ 0.07704166414824555, -0.9970278742268287 ], [ -0.9884640509196001, -0.15145567021281914 ] ] }, { "task_id": "0003415", "id": "RH20T_cfg3_task_0026_user_0011_scene_0010_cfg_0003_104122062823#96", "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 to close it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003415/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7287773571743736, -0.6847507310473904 ], [ -0.7328010645118255, 0.680442943861082 ], [ 0.6176106304091391, 0.7864840171329776 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0003416", "id": "RH20T_cfg6_task_0050_user_0014_scene_0009_cfg_0006_104122064161#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate from the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003416/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.982130195828424, -0.18820275885868856 ], [ 0.05547001961944599, 0.9984603531500278 ], [ -0.11507163209240157, -0.993357196323453 ], [ -0.9998785589112212, -0.015584204491069772 ] ] }, { "task_id": "0003417", "id": "RH20T_cfg3_task_0022_user_0011_scene_0010_cfg_0003_104122062823#157", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003417/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.863701713570236, -0.5040033233777712 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.40363356519645294, -0.9149207315646535 ], [ -0.8565155909367624, 0.5161211509735372 ] ] }, { "task_id": "0003418", "id": "RH20T_cfg5_task_0006_user_0010_scene_0002_cfg_0005_104122063678#317", "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 'push the small block from the left side to the right side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003418/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, -0.7071067806865474 ], [ -0.6174627406924228, 0.7866001295808449 ], [ 0.6225479874771679, 0.7825816272365 ], [ 0.7519842252457607, -0.6591811018085494 ] ] }, { "task_id": "0003419", "id": "RH20T_cfg4_task_0080_user_0007_scene_0010_cfg_0004_104122062823#155", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'flip over the paper', and now you are performing subtask 'pick up the paper 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003419/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7592916455337181, 0.6507504875316642 ], [ 0.6419787221476777, 0.7667224532447415 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.7753744160275007, -0.6315017933228791 ] ] }, { "task_id": "0003420", "id": "RH20T_cfg4_task_0001_user_0010_scene_0007_cfg_0004_104122062823#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003420/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.73994007334617, 0.6726727939510636 ], [ 0.6817680445771238, -0.7315684065031 ], [ -0.7875273705496905, -0.6162796772854762 ], [ -0.6258568386689528, 0.7799379574628384 ] ] }, { "task_id": "0003421", "id": "RH20T_cfg4_task_0122_user_0007_scene_0009_cfg_0004_104122062823#71", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003421/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.01892590172237979, -0.9998208890816369 ], [ -0.9997440673362232, -0.022622993303830354 ], [ 0.9999999995, 0.0 ], [ 0.028873704699557506, 0.9995830676721784 ] ] }, { "task_id": "0003422", "id": "RH20T_cfg4_task_0217_user_0010_scene_0010_cfg_0004_104122062823#148", "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 on the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003422/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9959149350228909, -0.09029641298717832 ], [ 0.14411990219494666, -0.9895602325231744 ], [ 0.0, 0.9999999998 ], [ -0.998529554518935, 0.054210042909199056 ] ] }, { "task_id": "0003423", "id": "RH20T_cfg7_task_0001_user_0020_scene_0006_cfg_0007_104122064161#53", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the white base', and now you are performing subtask 'press the red button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003423/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9844334724443728, -0.17575761244143656 ], [ -0.22419748058976977, -0.9745437341121228 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9710169861885002, 0.239010486241508 ] ] }, { "task_id": "0003424", "id": "RH20T_cfg4_task_0092_user_0007_scene_0004_cfg_0004_104122062823#96", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003424/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8504422734518244, 0.5260683791353481 ], [ 0.46566459135978977, -0.8849612920087071 ], [ -0.889038382480776, -0.45783267082632434 ], [ -0.4472135954713865, 0.894427190942773 ] ] }, { "task_id": "0003427", "id": "RH20T_cfg2_task_0075_user_0007_scene_0004_cfg_0002_037522062165#302", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the black pieces on the chessboard', and now you are performing subtask 'pick up the black chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003427/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9910816997736145, -0.13325563542996285 ], [ 0.0, 0.9999999989999999 ], [ 0.027515220974364568, -0.9996213846325678 ], [ -0.9999999972501683, 7.415971646798991e-05 ] ] }, { "task_id": "0003428", "id": "RH20T_cfg6_task_0055_user_0014_scene_0007_cfg_0006_104122063633#110", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003428/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7474093186215908, 0.6643638387747474 ], [ 0.7679339279331167, 0.6405290643906918 ], [ 0.6970059017694085, -0.7170653895556623 ], [ -0.5688756644815278, -0.8224235395224898 ] ] }, { "task_id": "0003429", "id": "RH20T_cfg4_task_0108_user_0015_scene_0008_cfg_0004_104122062823#108", "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 pencil sharpener counterclockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003429/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9493422017262972, 0.3142441471554662 ], [ -0.3880570000393092, 0.9216353750933594 ], [ 0.48462981731620425, -0.8747193493733075 ], [ -0.9088132612973742, -0.4172031352830785 ] ] }, { "task_id": "0003430", "id": "RH20T_cfg6_task_0006_user_0014_scene_0004_cfg_0006_104122063633#183", "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 'use the gripper to push the small block from back to front'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003430/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49688690673350594, 0.8678153040346824 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9362409346678615, -0.35135866611234884 ], [ -0.3924081033028236, -0.9197912156909744 ] ] }, { "task_id": "0003431", "id": "RH20T_cfg6_task_0042_user_0014_scene_0009_cfg_0006_104122064161#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'screw the lid onto the jar clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003431/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9894523155402936, -0.14485894957492798 ], [ -0.05708065556195147, -0.9983695702296911 ], [ -0.9981955962957519, 0.06004624497642078 ], [ 0.0, 0.99999999975 ] ] }, { "task_id": "0003433", "id": "RH20T_cfg6_task_0054_user_0014_scene_0006_cfg_0006_104122063633#96", "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 on the green cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003433/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9981252752698697, 0.06120404290115722 ], [ 0.04135955496359276, -0.9991443275189094 ], [ 0.09053574603432181, 0.9958932063775399 ], [ -0.9933962943463034, 0.11473361486082767 ] ] }, { "task_id": "0003434", "id": "RH20T_cfg4_task_0044_user_0014_scene_0007_cfg_0004_104122062823#162", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003434/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5797902601115998, 0.8147657665118997 ], [ 0.9187873886395814, -0.39475275106939883 ], [ -0.8541985555827144, 0.5199469468764348 ], [ -0.6224450503167795, -0.7826635032605914 ] ] }, { "task_id": "0003435", "id": "RH20T_cfg5_task_0044_user_0010_scene_0004_cfg_0005_104122063678#228", "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 containing the items 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003435/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.999508571503003, -0.03134669826355562 ], [ 0.12597867642323163, -0.9920329495972655 ], [ -0.9991284011544531, -0.04174252036648145 ] ] }, { "task_id": "0003436", "id": "RH20T_cfg4_task_0064_user_0015_scene_0009_cfg_0004_104122062823#109", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003436/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6701356988212039, -0.7422386039309844 ], [ -0.7663430801852966, -0.6424315398951954 ], [ -0.617793352311144, 0.7863404948495015 ], [ 0.7999999999466667, 0.59999999996 ] ] }, { "task_id": "0003437", "id": "RH20T_cfg4_task_0067_user_0007_scene_0006_cfg_0004_104122062823#122", "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 red button from the top of the obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003437/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5677350225862788, -0.8232113605441543 ], [ -0.7192651706417058, -0.6947356434657415 ], [ 0.7808688093820547, 0.6246950475056438 ], [ -0.6900307914482053, 0.7237800127479092 ] ] }, { "task_id": "0003438", "id": "RH20T_cfg7_task_0076_user_0014_scene_0010_cfg_0007_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) one on top of the other every time', and now you are performing subtask 'pick up the small Lego 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003438/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8320502942801514, 0.5547001961867676 ], [ 0.5559179724124742, -0.8312371550579314 ], [ -0.7985155862023956, -0.6019741344873919 ], [ -0.6442463591347353, 0.7648180363600467 ] ] }, { "task_id": "0003439", "id": "RH20T_cfg6_task_0045_user_0014_scene_0006_cfg_0006_104122064161#298", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003439/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.858667394727298, 0.5125332235399328 ], [ 0.45760291729131114, -0.8891566622853823 ], [ -0.5547001961995881, 0.832050294299382 ], [ -0.897427109110441, -0.4411627634260134 ] ] }, { "task_id": "0003440", "id": "RH20T_cfg7_task_0010_user_0020_scene_0003_cfg_0007_104122064161#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003440/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999996666666 ], [ 0.9944731551152791, 0.10499116036629964 ], [ -0.04619594061422349, -0.9989323976479926 ], [ -0.997468072420748, -0.07111571205604006 ] ] }, { "task_id": "0003441", "id": "RH20T_cfg4_task_0200_user_0017_scene_0007_cfg_0004_104122062823#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the large pipette 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003441/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9138115485274737, 0.40613846601221054 ], [ 0.5421815342565894, -0.8402613783288928 ], [ -0.9447428712872361, -0.3278123047598258 ], [ -0.4644113869775766, 0.8856195930790847 ] ] }, { "task_id": "0003442", "id": "RH20T_cfg5_task_0011_user_0007_scene_0003_cfg_0005_104122063678#294", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the kettle 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003442/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7470881291757148, 0.6647250012183463 ], [ 0.8058629789997981, -0.5921020681247205 ], [ -0.7647763687779143, -0.6442958216214564 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003443", "id": "RH20T_cfg2_task_0073_user_0007_scene_0010_cfg_0002_105422061350#195", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'pick up the small square block 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003443/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.99930895706575, 0.03716999230781772 ], [ 0.12057596426235746, -0.9927041033672636 ], [ -0.9957287197578811, -0.09232722593759154 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0003444", "id": "RH20T_cfg2_task_0073_user_0007_scene_0010_cfg_0002_105422061350#495", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'place the small square block in 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003444/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.026503305601790306, -0.9996487256992719 ], [ 0.9999999989999999, 0.0 ], [ -0.9990212023753581, -0.04423389203420645 ], [ 0.010496962249134522, 0.9999449053740612 ] ] }, { "task_id": "0003445", "id": "RH20T_cfg4_task_0067_user_0007_scene_0010_cfg_0004_104122062823#119", "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 from top to bottom'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003445/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.8617414460575269, -0.5073476915751984 ], [ -0.4933129620714993, -0.8698518962744426 ], [ -0.810222074050684, 0.5861230167132221 ] ] }, { "task_id": "0003446", "id": "RH20T_cfg6_task_0010_user_0014_scene_0003_cfg_0006_104122064161#27", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003446/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5881716976318029, 0.808736084243729 ], [ 0.7422674446259209, 0.6701037536445423 ], [ 0.6187577438637095, -0.7855818572298446 ], [ -0.7211939013149807, -0.6927332507582395 ] ] }, { "task_id": "0003447", "id": "RH20T_cfg6_task_0022_user_0014_scene_0004_cfg_0006_104122064161#67", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the red flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003447/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995601020107828, -0.029658092794268155 ], [ -0.02936254634384141, -0.9995688274812324 ], [ 0.06651901051934915, 0.9977851577902372 ], [ -0.9992159404819535, -0.03959171992683888 ] ] }, { "task_id": "0003448", "id": "RH20T_cfg2_task_0002_user_0007_scene_0006_cfg_0002_037522062165#274", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003448/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9637189932736808, 0.26691890529440443 ], [ 0.2762052444746577, -0.9610986749156897 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9554046183598918, -0.29529987337719876 ] ] }, { "task_id": "0003449", "id": "RH20T_cfg6_task_0014_user_0014_scene_0005_cfg_0006_104122064161#56", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003449/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.36099410254685244, 0.9325680982460354 ], [ 0.9686861025077925, -0.248288611918192 ], [ -0.33442536102646025, -0.9424222397112251 ], [ -0.9486205306733162, 0.316416005892679 ] ] }, { "task_id": "0003450", "id": "RH20T_cfg2_task_0079_user_0007_scene_0010_cfg_0002_105422061350#-2", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the microwave door handle to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003450/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9731439207004328, 0.2301975447388395 ], [ 0.2161437469398807, -0.9763615522227352 ], [ -0.18526110359784634, 0.9826893321277067 ], [ -0.9627291563945359, -0.27046732044346006 ] ] }, { "task_id": "0003451", "id": "RH20T_cfg4_task_0045_user_0014_scene_0004_cfg_0004_104122062823#161", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003451/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9936095934762696, 0.1128715010617045 ], [ 0.1880894615651692, -0.9821518998852086 ], [ -0.2248595066819045, 0.9743911956215862 ], [ -0.97690556400362, -0.21367152130962422 ] ] }, { "task_id": "0003452", "id": "RH20T_cfg2_task_0002_user_0006_scene_0003_cfg_0002_037522062165#271", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up a napkin'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003452/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.952522719184301, 0.30446751786971527 ], [ -0.3713906762851382, 0.9284766907128456 ], [ 0.3671725233781072, -0.9301528573713856 ], [ -0.8621004986673392, -0.5067373384678943 ] ] }, { "task_id": "0003453", "id": "RH20T_cfg2_task_0001_user_0006_scene_0010_cfg_0002_037522062165#138", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003453/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9382643366846538, -0.34591911555406507 ], [ -0.3707136093159687, -0.9287472314187146 ], [ -0.955650100698121, 0.29450447371079364 ] ] }, { "task_id": "0003454", "id": "RH20T_cfg7_task_0016_user_0014_scene_0003_cfg_0007_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue by 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003454/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.22903933371243254, 0.9734171682778383 ], [ 0.9886299461582861, -0.15036897804754926 ], [ -0.27592318113191294, -0.9611796908560051 ], [ -0.9575886993828466, 0.2881386520657515 ] ] }, { "task_id": "0003455", "id": "RH20T_cfg2_task_0074_user_0014_scene_0006_cfg_0002_105422061350#238", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button on the control panel horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003455/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9553327199554713, 0.2955323910884915 ], [ 0.29727905402999694, -0.9547906388497062 ], [ -0.9896756672120253, -0.14332506315516716 ], [ -0.2747211278596422, 0.9615239475087477 ] ] }, { "task_id": "0003456", "id": "RH20T_cfg5_task_0055_user_0007_scene_0007_cfg_0005_104122063678#292", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003456/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.08221815982821888, 0.9966143558039195 ], [ 0.9989676277736239, -0.04542773008128885 ], [ -0.035370425751576076, -0.9993742707225118 ] ] }, { "task_id": "0003457", "id": "RH20T_cfg4_task_0062_user_0007_scene_0005_cfg_0004_104122062823#98", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003457/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135953999579, -0.8944271907999158 ], [ -0.8816474314241602, -0.47190868466598557 ], [ -0.31004598319570864, 0.9507215619224203 ], [ 0.9324410918634307, 0.3613220311640757 ] ] }, { "task_id": "0003458", "id": "RH20T_cfg2_task_0206_user_0007_scene_0011_cfg_0002_105422061350#216", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the green garlic', and now you are performing subtask 'pick up the knife on the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003458/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953506140626078, -0.09631798941625373 ], [ 0.005601095086067984, -0.9999843137438892 ], [ -0.9989052789960955, -0.046778666010615415 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003459", "id": "RH20T_cfg4_task_0012_user_0010_scene_0008_cfg_0004_104122062823#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the soccer ball to the left rear', and now you are performing subtask 'push the soccer ball to the left rear'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003459/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12090303368567161, -0.9926643221379529 ], [ 0.9953071617529459, 0.09676597405931418 ], [ -0.9753959774855628, -0.22046017124411255 ], [ -0.00036552376071068084, 0.999999933196188 ] ] }, { "task_id": "0003460", "id": "RH20T_cfg5_task_0015_user_0007_scene_0007_cfg_0005_104122063678#217", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003460/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956927053368716, 0.09271481294238636 ], [ 0.0, 0.9999999989999999 ], [ -0.1242849210973859, -0.9922465713661179 ], [ -0.9959157635184164, 0.09028727471537644 ] ] }, { "task_id": "0003461", "id": "RH20T_cfg4_task_0209_user_0007_scene_0006_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the radish with a kitchen knife', and now you are performing subtask 'pick up the kitchen knife from 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003461/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999064093134526, 0.04325433861807448 ], [ -0.0956579332145699, -0.9954142654257658 ], [ -0.9999896493788709, 0.00454985001103228 ], [ -0.035691530511138596, 0.9993628543118808 ] ] }, { "task_id": "0003462", "id": "RH20T_cfg2_task_0072_user_0007_scene_0013_cfg_0002_105422061350#295", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003462/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6926681952145983, 0.7212563839150063 ], [ 0.7117264998272466, -0.7024566815424681 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6244180568759469, -0.7810903214400156 ] ] }, { "task_id": "0003463", "id": "RH20T_cfg4_task_0118_user_0007_scene_0002_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'push the faucet handle to turn on the water'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003463/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.32432432431555885, 0.94594594592038 ], [ 0.9802089017979959, 0.1979659284724694 ], [ 0.28293071729018054, -0.9591403490697615 ], [ -0.942395775773689, -0.33449992795799943 ] ] }, { "task_id": "0003464", "id": "RH20T_cfg4_task_0074_user_0007_scene_0009_cfg_0004_104122062823#91", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the black and white base of the red button on the right wall', and now you are performing subtask 'press the button on the red key black and white base on the right wall'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003464/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9394301526009263, -0.34274040961666646 ], [ -0.35572895162191287, -0.9345891680187476 ], [ 0.4472135954749579, 0.8944271909499159 ], [ -0.913207710200053, 0.4074943901836887 ] ] }, { "task_id": "0003465", "id": "RH20T_cfg5_task_0026_user_0010_scene_0007_cfg_0005_104122063678#155", "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 to the position of closing 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003465/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, -0.9999999989999999 ], [ -0.998741965373735, -0.05014465675831289 ], [ 0.05820562691561397, 0.9983046153330958 ], [ 0.9968111912626326, -0.07979629674096048 ] ] }, { "task_id": "0003467", "id": "RH20T_cfg7_task_0004_user_0020_scene_0003_cfg_0007_104122064161#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003467/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9979859255908564, -0.06343573379855771 ], [ 0.15517152534682466, -0.9878875430541373 ], [ 0.0, 0.9999999998333333 ], [ -0.9903029407101376, 0.1389247480503521 ] ] }, { "task_id": "0003468", "id": "RH20T_cfg2_task_0062_user_0007_scene_0003_cfg_0002_105422061350#244", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003468/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953930298600969, -0.09587865302524938 ], [ 0.0, 0.9999999995 ], [ -0.019791481268066114, -0.9998041294519722 ], [ -0.9999887061884167, 0.004752630389187462 ] ] }, { "task_id": "0003469", "id": "RH20T_cfg4_task_0088_user_0007_scene_0004_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003469/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832977505137, 0.31622776591683793 ], [ 0.2980223163440026, 0.9545589028242077 ], [ 0.9774912901782568, -0.21097577497344852 ], [ -0.23229536301961634, -0.972645292138704 ] ] }, { "task_id": "0003470", "id": "RH20T_cfg5_task_0089_user_0007_scene_0005_cfg_0005_104122063678#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block around the piggy bank to the position in front of the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003470/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7769401819879073, 0.6295744226162603 ], [ -0.7071067810865475, 0.7071067810865475 ], [ 0.7797885916113002, -0.6260429317489854 ], [ -0.6241879103819823, -0.7812742492447672 ] ] }, { "task_id": "0003471", "id": "RH20T_cfg4_task_0072_user_0007_scene_0019_cfg_0004_104122062823#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003471/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8368709085099831, 0.5474002945648415 ], [ -0.4472135953999579, 0.8944271907999158 ], [ 0.3904427950386049, -0.9206271904535744 ], [ -0.9450608228744578, -0.3268945412022857 ] ] }, { "task_id": "0003472", "id": "RH20T_cfg2_task_0007_user_0007_scene_0005_cfg_0002_105422061350#182", "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 the small block from the left side to the bottom side 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003472/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9026432565837424, 0.43038953442654243 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.41593211670010466, -0.9093956643273436 ], [ -0.8817814460147138, -0.4716582252693157 ] ] }, { "task_id": "0003473", "id": "RH20T_cfg6_task_0064_user_0007_scene_0002_cfg_0006_104122063633#146", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003473/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9964927968712937, -0.0836785861712956 ], [ 0.1961161350997225, 0.9805806754986125 ], [ -0.2869735645743256, -0.9579385018024411 ], [ -0.9978007508181367, 0.06628470160423701 ] ] }, { "task_id": "0003474", "id": "RH20T_cfg4_task_0035_user_0016_scene_0007_cfg_0004_104122062823#115", "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 from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003474/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5952472918218364, -0.8035425698609685 ], [ -0.9246895262928765, 0.38072205079855287 ], [ 0.8682431420167669, -0.4961389382952954 ], [ 0.3744629612339943, 0.9272418727947246 ] ] }, { "task_id": "0003475", "id": "RH20T_cfg6_task_0103_user_0014_scene_0002_cfg_0006_104122064161#129", "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 'pull the small plate to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003475/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6108577472410934, 0.7917403694618182 ], [ 0.7498011527834566, -0.6616632310205848 ], [ -0.7071067809365474, 0.7071067809365474 ], [ -0.7162702058936725, -0.6978230378462981 ] ] }, { "task_id": "0003476", "id": "RH20T_cfg3_task_0020_user_0010_scene_0007_cfg_0003_104122062823#198", "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 it on'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003476/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9926855748961398, 0.12072841170627743 ], [ -0.05907187734663747, -0.9982537319272811 ], [ -0.9902928697617679, -0.13899651829812948 ] ] }, { "task_id": "0003477", "id": "RH20T_cfg7_task_0064_user_0014_scene_0006_cfg_0007_104122064161#88", "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 tissue from the tissue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003477/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3939192985274435, 0.9191450298973682 ], [ 0.8871951203984468, 0.4613944281644344 ], [ 0.4882391831561154, -0.8727098601660516 ], [ -0.912926925936824, -0.4081230548493196 ] ] }, { "task_id": "0003478", "id": "RH20T_cfg5_task_0012_user_0007_scene_0002_cfg_0005_104122063678#199", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003478/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.6561513339150384, -0.7546293308648397 ], [ -0.6689087014390586, -0.7433445695901144 ], [ -0.6280511277694601, 0.7781720766691063 ] ] }, { "task_id": "0003479", "id": "RH20T_cfg5_task_0021_user_0010_scene_0002_cfg_0005_104122063678#235", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003479/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.13873525972013895, -0.9903295046146943 ], [ -0.9999823124963741, 0.005947662936312101 ], [ 0.99999999975, 0.0 ], [ 0.04194260233897704, 0.9991200218737659 ] ] }, { "task_id": "0003480", "id": "RH20T_cfg7_task_0051_user_0014_scene_0002_cfg_0007_104122064161#87", "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 dish from the dish 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003480/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.30302918299116366, 0.9529812769701763 ], [ -0.9284766907128456, 0.3713906762851382 ], [ 0.9672662934534915, -0.2537635071257177 ], [ -0.3268106608036296, -0.9450898327593494 ] ] }, { "task_id": "0003481", "id": "RH20T_cfg4_task_0094_user_0015_scene_0004_cfg_0004_104122062823#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the lid from 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003481/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.43341396958795947, -0.9011949461498369 ], [ -0.8988657181825084, -0.43822416715220486 ], [ 0.8384436162654877, 0.544988350572567 ], [ -0.6098063759569916, 0.7925504298416601 ] ] }, { "task_id": "0003482", "id": "RH20T_cfg2_task_0031_user_0003_scene_0003_cfg_0002_037522062165#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'push the box cover'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003482/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4381602549156353, -0.8988968745146829 ], [ -0.9408777563038926, 0.33874628808675217 ], [ 0.9363291774594555, -0.35112344154729586 ], [ 0.3485218116108451, 0.9373006704529208 ] ] }, { "task_id": "0003483", "id": "RH20T_cfg5_task_0222_user_0010_scene_0002_cfg_0005_104122063678#255", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003483/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9997174272556805, 0.023771109382678575 ], [ 0.007981522004033315, -0.9999681471459475 ], [ -0.9992798731008733, -0.03794384291953717 ] ] }, { "task_id": "0003484", "id": "RH20T_cfg7_task_0008_user_0014_scene_0002_cfg_0007_104122064161#96", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003484/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9456361756878896, 0.3252264184078267 ], [ -0.4472135953999579, 0.8944271907999158 ], [ 0.5266363123565893, -0.8500906978125646 ], [ -0.9271462512519852, -0.3746996514401775 ] ] }, { "task_id": "0003485", "id": "RH20T_cfg7_task_0014_user_0020_scene_0008_cfg_0007_104122064161#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the small square block from the scale', and now you are performing subtask 'pick up the small block on the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003485/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9528525091995098, -0.3034338407498384 ], [ 0.4472135953999579, 0.8944271907999158 ], [ -0.5531627035961366, -0.8330732400876965 ], [ -0.8287787242387209, 0.5595764704213698 ] ] }, { "task_id": "0003486", "id": "RH20T_cfg2_task_0054_user_0007_scene_0018_cfg_0002_105422061350#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping the moving object', and now you are performing subtask 'pick up the moving object in hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003486/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9963012191638637, 0.08592951002187064 ], [ 0.18130230729223829, 0.9834274113377717 ], [ -0.1961161350997225, -0.9805806754986125 ], [ 0.9865356326453275, -0.16354646288160296 ] ] }, { "task_id": "0003488", "id": "RH20T_cfg3_task_0029_user_0010_scene_0008_cfg_0003_104122062823#160", "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 the outside'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003488/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9980525784206317, 0.06237828615128948 ], [ 0.09775983598530597, 0.9952100353534052 ], [ 0.9981554386137435, 0.06071013396300012 ], [ 0.04431677047582614, -0.9990175293029613 ] ] }, { "task_id": "0003489", "id": "RH20T_cfg2_task_0012_user_0006_scene_0005_cfg_0002_037522062165#324", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the soccer ball towards the goal', and now you are performing subtask 'push the soccer ball toward the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003489/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9204824344768324, 0.3907839400738009 ], [ 0.5530501606936201, 0.8331479579022929 ], [ -0.4472135953999579, -0.8944271907999158 ], [ 0.8431935226930715, -0.5376101592124621 ] ] }, { "task_id": "0003490", "id": "RH20T_cfg5_task_0005_user_0010_scene_0004_cfg_0005_104122063678#175", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'gently push the block', and now you are performing subtask 'gently push the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003490/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9550408818513206, 0.29647413713956894 ], [ 0.2708495004298952, 0.9626217056127896 ], [ 0.9945329085428859, -0.10442362675768237 ], [ -0.16439898727833027, -0.9863939236699816 ] ] }, { "task_id": "0003491", "id": "RH20T_cfg6_task_0017_user_0014_scene_0007_cfg_0006_104122064161#72", "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 right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003491/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9267652559765294, -0.3756409992462993 ], [ 0.3162277659835046, 0.9486832979505138 ], [ -0.3421670724993967, -0.9396391299308435 ], [ -0.9774835167036765, 0.21101178775749366 ] ] }, { "task_id": "0003492", "id": "RH20T_cfg2_task_0215_user_0007_scene_0010_cfg_0002_105422061350#214", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003492/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9990901206566871, 0.04264892502990495 ], [ 0.0, 0.9999999989999999 ], [ -0.0410114151164421, -0.9991586780037227 ], [ -0.9889812512002186, 0.1480408213110497 ] ] }, { "task_id": "0003493", "id": "RH20T_cfg2_task_0007_user_0003_scene_0002_cfg_0002_104122061850#271", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'moving to the right side of the table while holding a small block', and now you are performing subtask 'pick up the small 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003493/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9993218463971673, 0.03682183202064624 ], [ -0.10402547932261055, -0.9945746325197025 ], [ -0.9943110070421612, 0.10651582640529636 ] ] }, { "task_id": "0003495", "id": "RH20T_cfg4_task_0068_user_0007_scene_0008_cfg_0004_104122062823#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button', and now you are performing subtask 'press the button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003495/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9097894372616971, -0.41507009028240577 ], [ -0.5778762152685072, -0.8161244266819527 ], [ -0.835045065063637, 0.550181551229107 ], [ 0.4740998230029074, 0.8804710998625422 ] ] }, { "task_id": "0003496", "id": "RH20T_cfg2_task_0056_user_0007_scene_0005_cfg_0002_105422061350#78", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'receive something handed over by a human', and now you are performing subtask 'pick up the item handed over by a human'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003496/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, 0.4472135952999579 ], [ 0.5202722311415134, -0.8540004716058601 ], [ -0.8952494785698213, -0.4455652265611211 ], [ -0.48541813697039, 0.8742821239738324 ] ] }, { "task_id": "0003497", "id": "RH20T_cfg7_task_0065_user_0020_scene_0005_cfg_0007_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'build with small Lego blocks for the nth time with n blocks', and now you are performing subtask 'pick up the first lego block from the right side of the workspace'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003497/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7956897107566608, -0.6057044528447693 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.7937446048278344, -0.6082511835637521 ], [ -0.7193258095400625, 0.6946728580630841 ] ] }, { "task_id": "0003499", "id": "RH20T_cfg4_task_0016_user_0016_scene_0004_cfg_0004_104122062823#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue by 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003499/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.011466360104901792, -0.9999342591320416 ], [ -0.995470622338623, 0.09506965899147128 ], [ -0.005277078428113453, 0.9999860761246946 ], [ 0.9999999999, 0.0 ] ] }, { "task_id": "0003500", "id": "RH20T_cfg4_task_0086_user_0015_scene_0008_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the pen from the desk and turn the dial of the rotary phone', and now you are performing subtask 'pick up the pen from the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003500/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9423519156197689, 0.33462347067674736 ], [ 0.08855617011074705, -0.9960711845723259 ], [ -0.24253562497750944, 0.9701424999100378 ], [ -0.9738529377493311, -0.22717934685397206 ] ] }, { "task_id": "0003501", "id": "RH20T_cfg6_task_0059_user_0014_scene_0008_cfg_0006_104122064161#186", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'press the knob of the speaker to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003501/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7561311291412435, 0.6544201368720161 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.7055952273798253, -0.7086151106904316 ], [ -0.7557865321669012, -0.6548180799238287 ] ] }, { "task_id": "0003502", "id": "RH20T_cfg3_task_0005_user_0016_scene_0006_cfg_0003_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block', and now you are performing subtask 'push the small block to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003502/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9443146988344346, -0.32904368944751244 ], [ 0.4472135954599579, 0.8944271909199158 ], [ -0.33704185965311795, -0.9414896626312834 ], [ -0.8446007661657712, 0.5353966247485994 ] ] }, { "task_id": "0003503", "id": "RH20T_cfg6_task_0045_user_0014_scene_0009_cfg_0006_104122064161#182", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the person's hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003503/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4422288541984451, 0.8969022469111839 ], [ 0.9363519793378111, -0.35106263086543854 ], [ -0.4118470835075417, -0.9112529724540448 ], [ -0.939793423408145, 0.3417430630575073 ] ] }, { "task_id": "0003504", "id": "RH20T_cfg6_task_0029_user_0014_scene_0009_cfg_0006_104122064161#56", "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 outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003504/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4107220924472661, 0.9117605841314591 ], [ -0.8574929255654853, 0.5144957553392911 ], [ 0.8791538309899526, -0.47653807975406326 ], [ -0.5977554459131565, -0.8016785059368646 ] ] }, { "task_id": "0003505", "id": "RH20T_cfg6_task_0001_user_0014_scene_0004_cfg_0006_104122064161#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button on the white base with the green key', and now you are performing subtask 'press the green button on the white base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003505/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7020883983642942, -0.7120897983276128 ], [ -0.7079273405491128, -0.7062852685020837 ], [ -0.7480355826392023, 0.6636586224148896 ], [ 0.6401843995825127, 0.7682212794990152 ] ] }, { "task_id": "0003506", "id": "RH20T_cfg4_task_0039_user_0010_scene_0007_cfg_0004_104122062823#138", "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 with water on 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003506/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.3535224426928561, -0.935426043315278 ], [ -0.9194060982734308, 0.3933095809380018 ], [ 0.9284766907128456, -0.3713906762851382 ], [ 0.41596490754623644, 0.9093806659974969 ] ] }, { "task_id": "0003507", "id": "RH20T_cfg5_task_0092_user_0007_scene_0001_cfg_0005_104122063678#193", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock', and now you are performing subtask 'turn the mechanism on the table clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003507/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6445159312647342, 0.7645908803706415 ], [ 0.7245591421173352, -0.6892126301615425 ], [ -0.6289329791110725, -0.7774595216385681 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003508", "id": "RH20T_cfg4_task_0045_user_0014_scene_0009_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003508/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993796341354845, -0.035218558676147114 ], [ -0.04559766724986106, -0.9989598854515486 ], [ -0.09053574603432181, 0.9958932063775399 ], [ -0.9839248785602154, -0.17858284730137264 ] ] }, { "task_id": "0003509", "id": "RH20T_cfg7_task_0052_user_0020_scene_0009_cfg_0007_104122064161#87", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003509/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8240419241569272, 0.5665288228578875 ], [ 0.4427664931996439, -0.8966369569115973 ], [ -0.8253285148230807, -0.564652851422826 ], [ -0.4488066386600285, 0.8936288945052564 ] ] }, { "task_id": "0003510", "id": "RH20T_cfg4_task_0123_user_0007_scene_0008_cfg_0004_104122062823#90", "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 on the wooden cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003510/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6748886835985799, -0.7379195516792979 ], [ -0.6671306423503613, 0.7449407399499604 ], [ 0.7377292194064397, 0.6750967329457056 ], [ 0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0003511", "id": "RH20T_cfg2_task_0032_user_0003_scene_0007_cfg_0002_037522062165#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the box', and now you are performing subtask 'push the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003511/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.23953335976380175, 0.9708881344213993 ], [ 0.9954782499723155, -0.09498975645855916 ], [ -0.3444019308331931, -0.9388222994999471 ], [ -0.9805806754986125, 0.1961161350997225 ] ] }, { "task_id": "0003512", "id": "RH20T_cfg2_task_0052_user_0016_scene_0009_cfg_0002_105422061350#224", "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 on the green surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003512/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271905999158, 0.4472135952999579 ], [ 0.37268011228469305, 0.9279598773155381 ], [ 0.9156481317662765, -0.40198071942933755 ], [ -0.5367501515179485, -0.8437412368999511 ] ] }, { "task_id": "0003513", "id": "RH20T_cfg4_task_0094_user_0014_scene_0009_cfg_0004_104122062823#72", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'fold the lid above the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003513/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38588882880062375, 0.9225452898404951 ], [ 0.9431338433626121, -0.3324132270293527 ], [ -0.9048187021528354, 0.4257970363072167 ], [ -0.5185848064590736, -0.8550261975575983 ] ] }, { "task_id": "0003514", "id": "RH20T_cfg4_task_0103_user_0015_scene_0009_cfg_0004_104122062823#128", "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 to the goal position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003514/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9966148487245022, -0.08221218463121885 ], [ 0.0, 0.9999999989999999 ], [ -0.06202939935663882, -0.9980743226911785 ], [ -0.9939354069309696, 0.10996548026070732 ] ] }, { "task_id": "0003515", "id": "RH20T_cfg3_task_0084_user_0010_scene_0006_cfg_0003_104122062823#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring on the fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003515/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9205782099068202, 0.39055826638896624 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.37208753646788656, -0.9281976433956614 ], [ -0.9325874508898649, -0.36094410431913676 ] ] }, { "task_id": "0003516", "id": "RH20T_cfg7_task_0044_user_0014_scene_0001_cfg_0007_104122064161#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003516/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999996666666 ], [ 0.9998794251450933, 0.015528527667419256 ], [ -0.03955056941716746, -0.9992175701311391 ], [ -0.9901020572307162, 0.14034926529021663 ] ] }, { "task_id": "0003517", "id": "RH20T_cfg2_task_0007_user_0002_scene_0001_cfg_0002_104122061850#346", "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 'pick up the small block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003517/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, -0.7071067809365474 ], [ -0.6917080082947724, 0.7221772852014103 ], [ 0.8069458607788397, 0.5906254123993461 ], [ 0.7110156027391117, -0.7031762315817691 ] ] }, { "task_id": "0003518", "id": "RH20T_cfg5_task_0061_user_0007_scene_0005_cfg_0005_104122063678#430", "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 second cube from 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003518/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6542681460599866, 0.7562626481925628 ], [ 0.6849894011155158, -0.7285530319471653 ], [ -0.7510252780080326, -0.6602734522854583 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003519", "id": "RH20T_cfg5_task_0049_user_0007_scene_0003_cfg_0005_104122063678#419", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees counterclockwise', and now you are performing subtask 'twist the steering wheel counterclockwise to turn 90 degrees'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003519/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6073093354126017, -0.7944654625096702 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6211877098374641, -0.7836618078909336 ], [ -0.6973923704695177, 0.7166895294413802 ] ] }, { "task_id": "0003520", "id": "RH20T_cfg4_task_0046_user_0014_scene_0003_cfg_0004_104122062823#279", "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 top of 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003520/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9905321050710096, -0.13728127630377868 ], [ 0.0, -0.99999999975 ], [ -0.11121188815519582, 0.9937967176102748 ], [ 0.9948352996533659, 0.10150234757678113 ] ] }, { "task_id": "0003521", "id": "RH20T_cfg5_task_0122_user_0007_scene_0003_cfg_0005_104122063678#405", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the knife on the cutting board', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003521/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.76241616940849, 0.6470869992701791 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.6829526483288071, -0.7304626480119766 ], [ -0.7590897205515948, -0.6509860184004735 ] ] }, { "task_id": "0003522", "id": "RH20T_cfg3_task_0016_user_0010_scene_0006_cfg_0003_104122062823#124", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003522/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.40613846601221054, 0.9138115485274737 ], [ 0.8823634951699573, -0.47056844602189046 ], [ -0.5085791435900842, -0.8610152464998378 ], [ -0.9272548756204658, 0.37443076214178056 ] ] }, { "task_id": "0003523", "id": "RH20T_cfg7_task_0006_user_0020_scene_0008_cfg_0007_104122064161#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block with a small block from right to left', and now you are performing subtask 'pick up the small block from the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003523/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9441796982452433, -0.32943086895663126 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.3920324203300944, -0.9199514016567006 ], [ -0.9577230318684491, 0.28769183900261336 ] ] }, { "task_id": "0003524", "id": "RH20T_cfg4_task_0072_user_0007_scene_0018_cfg_0004_104122062823#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin on the bottle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003524/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, -0.7071067806865474 ], [ -0.6915816370071425, 0.7222983035799829 ], [ 0.7051389714734989, 0.7090691298521578 ], [ 0.7426294607974786, -0.669702533932526 ] ] }, { "task_id": "0003525", "id": "RH20T_cfg2_task_0017_user_0003_scene_0002_cfg_0002_037522062165#201", "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 tablecloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003525/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9978661707461336, -0.06529245959870247 ], [ 0.0, 0.9999999989999999 ], [ -0.017048832343831134, -0.9998546580957215 ], [ -0.996127651072731, -0.08791872820010228 ] ] }, { "task_id": "0003526", "id": "RH20T_cfg7_task_0050_user_0014_scene_0010_cfg_0007_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the dish rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003526/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995001616609263, -0.031613712843990074 ], [ 0.17888543818398317, 0.9838699100119074 ], [ -0.18280960933819476, -0.9831483340440631 ], [ -0.9920376412944242, 0.12594172563132244 ] ] }, { "task_id": "0003527", "id": "RH20T_cfg1_task_0002_user_0004_scene_0009_cfg_0001_039422060546#372", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pull a napkin out of the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003527/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4711512285341399, 0.882052447335628 ], [ -0.8741572760366321, -0.48564293113146223 ], [ 0.8978655734344353, 0.4402697037512946 ], [ 0.5993951991885342, -0.8004532435999853 ] ] }, { "task_id": "0003528", "id": "RH20T_cfg4_task_0012_user_0010_scene_0009_cfg_0004_104122062823#64", "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 towards 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003528/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12170858517374405, 0.9925658770555259 ], [ -0.999999999952381, 0.0 ], [ 0.9916201471735193, -0.12918778471499598 ], [ -0.004972711777304101, -0.9999876359923556 ] ] }, { "task_id": "0003529", "id": "RH20T_cfg7_task_0007_user_0014_scene_0001_cfg_0007_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003529/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2425356250069212, 0.9701425000276848 ], [ 0.9444146068636513, -0.3287568255452272 ], [ -0.32290972821768626, -0.9464297688800686 ], [ -0.9677236188737456, 0.2520138834943454 ] ] }, { "task_id": "0003530", "id": "RH20T_cfg6_task_0205_user_0007_scene_0004_cfg_0006_104122064161#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the scallions', and now you are performing subtask 'pick up the knife on the knife 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003530/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.27568689548778463, -0.9612474892847873 ], [ 0.9922778765905907, 0.12403473457382384 ], [ -0.9699924928341633, -0.24313486760513295 ], [ -0.20816928589531355, 0.9780928117565506 ] ] }, { "task_id": "0003533", "id": "RH20T_cfg3_task_0085_user_0010_scene_0010_cfg_0003_104122062823#175", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003533/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9956823964283303, 0.0928254568679152 ], [ 0.10469850840737814, -0.9945040082057338 ], [ -0.9953007866487867, 0.09683152428990405 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0003534", "id": "RH20T_cfg6_task_0103_user_0014_scene_0003_cfg_0006_104122064161#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate to the target position', and now you are performing subtask 'pull the plate from the current position to the target position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003534/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9961523154877328, 0.08763882899964341 ], [ -0.034857363380659125, -0.9993922974578845 ], [ 0.0, 0.9999999999333333 ], [ -0.9982002155130072, -0.059969406782008204 ] ] }, { "task_id": "0003536", "id": "RH20T_cfg6_task_0050_user_0014_scene_0006_cfg_0006_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the bowl rack', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003536/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9853381810210616, 0.1706126285540014 ], [ 0.12648478025693385, -0.9919685480716388 ], [ -0.14142135623064284, 0.9899494936144998 ], [ -0.9905522793523853, -0.1371356331147885 ] ] }, { "task_id": "0003537", "id": "RH20T_cfg3_task_0044_user_0010_scene_0005_cfg_0003_104122062823#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things and move it from the right side of the table to the left side of the table', and now you are performing subtask 'pick up a bag of things 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003537/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999999090909, 0.0 ], [ 0.0846398579466637, 0.9964116089482141 ], [ 0.999964473174061, 0.00842925795800606 ], [ -0.0008070710640013918, -0.9999996743180959 ] ] }, { "task_id": "0003538", "id": "RH20T_cfg4_task_0005_user_0010_scene_0010_cfg_0004_104122062823#107", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block a little bit forward', and now you are performing subtask 'push the small block a little bit forward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003538/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.38418276380755295, 0.9232570627908514 ], [ 0.9246177453379627, -0.3808963441753443 ], [ -0.3328965966654015, -0.9429633375315252 ], [ -0.9615239475747854, 0.2747211278785101 ] ] }, { "task_id": "0003539", "id": "RH20T_cfg7_task_0042_user_0020_scene_0010_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003539/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9684147713875885, -0.24934480254925073 ], [ -0.23016500410544108, -0.9731516176244801 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9839901099912651, 0.17822307212978347 ] ] }, { "task_id": "0003540", "id": "RH20T_cfg6_task_0012_user_0014_scene_0009_cfg_0006_104122063633#101", "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 from the position on the table towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003540/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.994855611721469, 0.10130306918500484 ], [ -0.15307106538360127, -0.9882151835214481 ], [ -0.9991012493107256, 0.042387422966575466 ], [ 0.0, 0.9999999999444444 ] ] }, { "task_id": "0003541", "id": "RH20T_cfg6_task_0005_user_0014_scene_0001_cfg_0006_104122064161#35", "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 square'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003541/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999711031236337, 0.007602165329909309 ], [ 0.0, 0.9999999989999999 ], [ 0.07213369409415987, -0.9973949720027319 ], [ -0.9945856773647096, 0.10391982669818975 ] ] }, { "task_id": "0003542", "id": "RH20T_cfg6_task_0213_user_0014_scene_0002_cfg_0006_104122064161#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife on the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003542/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11082383796813873, -0.993840066076032 ], [ -0.9999975768387357, -0.002201435135758299 ], [ -0.04130624861463244, 0.9991465327094852 ], [ 0.9922778765905907, 0.12403473457382384 ] ] }, { "task_id": "0003544", "id": "RH20T_cfg4_task_0050_user_0014_scene_0006_cfg_0004_104122062823#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the dish on the dish rack', and now you are performing subtask 'pick up the plate from the wooden 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003544/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9030023150697604, 0.4296356816870001 ], [ 0.5176635111341854, -0.8555842969808569 ], [ -0.5087293121067329, 0.8609265281806249 ], [ -0.8376289718888545, -0.5462396044341902 ] ] }, { "task_id": "0003545", "id": "RH20T_cfg5_task_0032_user_0010_scene_0010_cfg_0005_104122063678#246", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the lid onto the gift box', and now you are performing subtask 'slide the lid onto the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003545/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10185856650747364, -0.9947988904442157 ], [ -0.9569090820544524, -0.2903876868631065 ], [ -0.3377762499118016, 0.9412264366216666 ], [ 0.9805806754986125, 0.1961161350997225 ] ] }, { "task_id": "0003546", "id": "RH20T_cfg4_task_0329_user_0014_scene_0001_cfg_0004_038522062288#220", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the glass cup onto the shelf', and now you are performing subtask 'pick up the glass cup 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003546/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7406547192479207, 0.6718858436191254 ], [ 0.7947725926814646, -0.6069073454180488 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7845366498779168, -0.620082450161537 ] ] }, { "task_id": "0003547", "id": "RH20T_cfg6_task_0041_user_0014_scene_0003_cfg_0006_104122064161#128", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003547/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9714451344307737, 0.23726430576632465 ], [ -0.35112344154729586, 0.9363291774594555 ], [ 0.3411830747558093, -0.9399968667501887 ], [ -0.9730624319467523, -0.23054176093253012 ] ] }, { "task_id": "0003548", "id": "RH20T_cfg2_task_0011_user_0013_scene_0002_cfg_0002_105422061350#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the kettle 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003548/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9912850274071903, -0.13173456053111518 ], [ 0.14650440677436793, -0.98921001753707 ], [ 0.0, 0.9999999989999999 ], [ -0.9933745072262617, -0.11492209706136422 ] ] }, { "task_id": "0003549", "id": "RH20T_cfg3_task_0008_user_0016_scene_0010_cfg_0003_104122062823#136", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003549/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6823182503267569, 0.7310552682072395 ], [ 0.7741273777012306, 0.633029859559102 ], [ 0.7044480783808142, -0.7097555247164887 ], [ -0.7606055051887618, -0.6492143447864877 ] ] }, { "task_id": "0003550", "id": "RH20T_cfg3_task_0076_user_0010_scene_0002_cfg_0003_104122062823#246", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks', and now you are performing subtask 'pick up the pink 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003550/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.9498238268648598, 0.3127853863590705 ], [ 0.31398941533425234, -0.949426483229773 ], [ -0.8702382925539415, -0.4926310121914784 ] ] }, { "task_id": "0003551", "id": "RH20T_cfg6_task_0012_user_0014_scene_0005_cfg_0006_104122063633#107", "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 to the position of the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003551/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.35897907928309586, 0.9333456061360492 ], [ 0.8934904540718719, 0.449082184552494 ], [ 0.2431611562957978, -0.9699859030258587 ], [ -0.9026309664284163, -0.43041530925897953 ] ] }, { "task_id": "0003552", "id": "RH20T_cfg4_task_0074_user_0007_scene_0008_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the green button on the right horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003552/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9045324551812485, 0.4264047813097114 ], [ -0.2982749931181532, 0.9544799779780903 ], [ 0.19190075437080506, -0.9814143367976218 ], [ -0.9848553592458685, -0.1733779725475278 ] ] }, { "task_id": "0003553", "id": "RH20T_cfg4_task_0043_user_0014_scene_0008_cfg_0004_036422060909#162", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003553/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9899494935211665, -0.1414213562173095 ], [ -0.16494342665785922, 0.9863030295007531 ], [ 0.999683797999842, 0.025145656018707815 ], [ 0.24849261148599966, -0.9686337915006207 ] ] }, { "task_id": "0003554", "id": "RH20T_cfg4_task_0060_user_0016_scene_0001_cfg_0004_104122062823#144", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the knob counterclockwise to decrease the volume', and now you are performing subtask 'twist the knob counterclockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003554/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9140043676121696, -0.4057043455348709 ], [ -0.5041778525108774, 0.863599845436253 ], [ 0.9075157815476462, 0.4200179832363906 ], [ 0.4472135952999579, -0.8944271905999158 ] ] }, { "task_id": "0003555", "id": "RH20T_cfg7_task_0004_user_0020_scene_0002_cfg_0007_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the left and move it to above the table', and now you are performing subtask 'pick up the small block on the lower desktop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003555/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8392456203661379, 0.5437525068413537 ], [ -0.4472135952999579, 0.8944271905999158 ], [ 0.40939618092631663, -0.9123567104170094 ], [ -0.9405683979181415, -0.33960431216004994 ] ] }, { "task_id": "0003556", "id": "RH20T_cfg7_task_0051_user_0014_scene_0005_cfg_0007_104122064161#119", "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 plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003556/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, -0.8944271905999158 ], [ -0.8935796411103438, -0.4489046947773095 ], [ -0.513919199617952, 0.8578385956950432 ], [ 0.8470829409763716, 0.5314607145470124 ] ] }, { "task_id": "0003557", "id": "RH20T_cfg3_task_0015_user_0010_scene_0004_cfg_0003_104122062823#173", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003557/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.390198682386216, 0.9207306817218924 ], [ -0.9486832979505138, 0.3162277659835046 ], [ 0.9496855016921502, -0.31320512108796855 ], [ -0.2481926418337748, -0.9687106959972991 ] ] }, { "task_id": "0003558", "id": "RH20T_cfg7_task_0020_user_0014_scene_0005_cfg_0007_104122064161#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the green flag', and now you are performing subtask 'pick up the green flag on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003558/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.980921901678892, -0.19440221914028158 ], [ -0.25885273215317334, -0.9659167992414448 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9665294196830028, 0.2565558046258902 ] ] }, { "task_id": "0003559", "id": "RH20T_cfg6_task_0210_user_0014_scene_0007_cfg_0006_104122064161#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003559/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11043152606265141, 0.9938837345638627 ], [ 0.9843055921134032, -0.1764723812223394 ], [ -0.061029520257978184, -0.9981359615087922 ], [ -0.9987714436222415, 0.04955404529141723 ] ] }, { "task_id": "0003560", "id": "RH20T_cfg4_task_0105_user_0007_scene_0010_cfg_0004_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block on the table', and now you are performing subtask 'pick up the block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003560/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991975189581621, 0.040053939979148016 ], [ -0.17888543818398317, 0.9838699100119074 ], [ 0.319863106064179, -0.9474637689004133 ], [ -0.9992974789903101, -0.03747730624806 ] ] }, { "task_id": "0003561", "id": "RH20T_cfg7_task_0051_user_0020_scene_0003_cfg_0007_104122064161#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the dish off the dish rack and place it on the table', and now you are performing subtask 'pick up the dish from the dish 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003561/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8009767540109825, 0.5986954480652331 ], [ 0.6936057405395988, -0.7203548269363611 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6684565935895113, -0.7437511562926857 ] ] }, { "task_id": "0003562", "id": "RH20T_cfg4_task_0081_user_0007_scene_0006_cfg_0004_104122062823#142", "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 blue surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003562/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6379502668987068, -0.7700775655502949 ], [ -0.8003490043824261, -0.5995343786506822 ], [ -0.439850895143551, 0.8980708157163426 ], [ 0.8320502942224591, 0.554700196148306 ] ] }, { "task_id": "0003563", "id": "RH20T_cfg7_task_0038_user_0020_scene_0003_cfg_0007_104122064161#114", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003563/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.857467859007992, -0.5145375309617854 ], [ -0.5581311719687218, -0.8297527311656293 ], [ -0.8758894499779278, 0.4825118355205012 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0003564", "id": "RH20T_cfg4_task_0124_user_0007_scene_0002_cfg_0004_104122062823#128", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'push the joystick to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003564/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9727581617752223, -0.2318222566961388 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.2677012661723173, -0.9635019626807919 ], [ -0.9536247877445961, 0.30099794716754147 ] ] }, { "task_id": "0003565", "id": "RH20T_cfg2_task_0009_user_0013_scene_0009_cfg_0002_105422061350#287", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take out a red Hanoi block from the shelf and place it on the table', and now you are performing subtask 'pick up the red Hanoi block in the center of the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003565/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.12831573950481637, -0.9917333668861466 ], [ -0.9989908492573809, -0.04491417482284205 ], [ -0.050221340662190576, 0.9987381122907507 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003566", "id": "RH20T_cfg4_task_0012_user_0010_scene_0003_cfg_0004_104122062823#87", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003566/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9752132931192131, 0.22126688163209038 ], [ 0.20005748738346263, -0.9797841607934963 ], [ -0.9716615456952741, -0.23637648067663347 ], [ -0.3068338716171581, 0.9517630877631393 ] ] }, { "task_id": "0003567", "id": "RH20T_cfg6_task_0059_user_0014_scene_0005_cfg_0006_104122064161#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'pick up the knob on the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003567/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999998015491995, 0.0006300012394216789 ], [ 0.0, -0.9999999989999999 ], [ 0.01278087586931876, 0.9999183212702991 ], [ 0.9982272156599198, -0.059518282198363436 ] ] }, { "task_id": "0003568", "id": "RH20T_cfg2_task_0022_user_0003_scene_0007_cfg_0002_037522062165#112", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003568/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0446830172535761, -0.9990012151990191 ], [ -0.9952963047864175, -0.09687758088692498 ], [ 0.9999999989999999, 0.0 ], [ -0.017356766864560797, 0.9998493599757962 ] ] }, { "task_id": "0003569", "id": "RH20T_cfg4_task_0209_user_0010_scene_0002_cfg_0004_104422070011#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slice the carrots', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003569/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3815873128529639, 0.9243327986551458 ], [ 0.9488081392190486, -0.315852995793433 ], [ -0.3862759275522905, -0.9223832759724223 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0003570", "id": "RH20T_cfg2_task_0007_user_0002_scene_0006_cfg_0002_104122061850#213", "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 piece 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003570/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6912110851155014, -0.7226529151767472 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6161206595193983, -0.7876517840476093 ], [ -0.6852596098160615, 0.7282988858667431 ] ] }, { "task_id": "0003571", "id": "RH20T_cfg6_task_0001_user_0014_scene_0007_cfg_0006_104122064161#94", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003571/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9327633075549092, -0.36048940633425813 ], [ -0.4727593032799459, -0.8811916029798855 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.9264660181721311, 0.37637842283036943 ] ] }, { "task_id": "0003572", "id": "RH20T_cfg5_task_0047_user_0010_scene_0010_cfg_0005_104122063678#277", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003572/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9940241130182388, 0.10916071975900317 ], [ -0.0798800449514277, -0.9968044835465769 ], [ -0.9916450840170474, -0.12899622996360458 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003573", "id": "RH20T_cfg5_task_0041_user_0010_scene_0006_cfg_0005_104122063678#228", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'wipe the cloth on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003573/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7431999536771235, 0.6690693752177883 ], [ 0.5133427839170039, -0.858183655286175 ], [ -0.7728204497414409, -0.6346247335720829 ] ] }, { "task_id": "0003574", "id": "RH20T_cfg4_task_0088_user_0015_scene_0003_cfg_0004_104122062823#85", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the block 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003574/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9540714684664343, 0.29957909315955583 ], [ 0.47038703022244904, -0.8824602210856333 ], [ -0.35112344156784375, 0.93632917751425 ], [ -0.9593055201795166, -0.28237018070806813 ] ] }, { "task_id": "0003575", "id": "RH20T_cfg4_task_0014_user_0010_scene_0008_cfg_0004_104122062823#78", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003575/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6830315203929676, -0.7303888978822659 ], [ -0.7371189563175755, -0.6757630089293792 ], [ -0.7164868154865989, 0.6976006330515135 ], [ 0.6459422414472084, 0.7633862853467007 ] ] }, { "task_id": "0003576", "id": "RH20T_cfg6_task_0080_user_0020_scene_0010_cfg_0006_104122064161#132", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003576/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.554700196071383, 0.8320502941070744 ], [ 0.7752962942527938, 0.6315977011657701 ], [ 0.6529432502499273, -0.7574068338436489 ], [ -0.859710679613213, -0.5107813106986075 ] ] }, { "task_id": "0003577", "id": "RH20T_cfg4_task_0094_user_0014_scene_0006_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the box lid up to open 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003577/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.08644784260312359, -0.9962563779014243 ], [ -0.9999734568434197, 0.007285987141193915 ], [ -0.04475268202210055, 0.9989980968209243 ], [ 0.9938837346187408, -0.11043152606874898 ] ] }, { "task_id": "0003578", "id": "RH20T_cfg5_task_0080_user_0007_scene_0007_cfg_0005_104122063678#386", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003578/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9941428127256058, 0.1080743628527194 ], [ -0.08215930169828718, -0.996619209700701 ], [ -0.9984646414172719, -0.05539277786389424 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0003579", "id": "RH20T_cfg4_task_0123_user_0007_scene_0010_cfg_0004_104122062823#132", "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 from the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003579/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.07669649888179586, 0.9970544854633462 ], [ 0.9932840443573151, -0.11570137088719089 ], [ -0.05097628982948523, -0.9986998637604896 ], [ -0.9988318270165767, -0.048321644619440725 ] ] }, { "task_id": "0003580", "id": "RH20T_cfg4_task_0009_user_0016_scene_0007_cfg_0004_104122062823#164", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a red disk from the stick in the middle of the shelf and place it on the table', and now you are performing subtask 'pick up a red disc from the middle rod of the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003580/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.04387433385259867, 0.9990370577856413 ], [ 0.9884821780797495, 0.1513373173368499 ], [ -0.99999999975, 0.0 ], [ 0.13048927304724733, -0.9914497211758148 ] ] }, { "task_id": "0003581", "id": "RH20T_cfg3_task_0029_user_0010_scene_0005_cfg_0003_104122062823#197", "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, open 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003581/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.93187589262504, 0.36277723294645287 ], [ 0.34869052999452804, -0.9372379176559895 ], [ -0.8952032891596633, -0.4456580203224445 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0003582", "id": "RH20T_cfg5_task_0101_user_0007_scene_0008_cfg_0005_104122063678#206", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003582/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135953999579, 0.8944271907999158 ], [ 0.9145345462843587, 0.40450780419228277 ], [ 0.47019011287148627, -0.8825651577973714 ], [ -0.8562859624937142, -0.5165020333321192 ] ] }, { "task_id": "0003583", "id": "RH20T_cfg4_task_0059_user_0016_scene_0004_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise to increase the volume of the speaker'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003583/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5974747858809042, -0.8018876980204696 ], [ 0.7893522173070956, 0.6139406134610743 ], [ -0.7191904984772997, -0.6948129438201144 ], [ -0.6917934028097886, 0.7220954838723571 ] ] }, { "task_id": "0003584", "id": "RH20T_cfg4_task_0026_user_0016_scene_0008_cfg_0004_104122062823#67", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003584/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.047948979407896435, 0.9988497861909674 ], [ -0.99999999996, 0.0 ], [ 0.9990404172561704, 0.043797770361250994 ], [ 0.03506926549351301, -0.999384884125103 ] ] }, { "task_id": "0003585", "id": "RH20T_cfg6_task_0032_user_0014_scene_0008_cfg_0006_104122064161#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 'pick up the outer packaging from the side 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003585/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.031179957140580812, -0.9995137869347834 ], [ 0.9958932064226218, 0.09053574603842017 ], [ -0.9829079232785183, -0.18409783908647692 ], [ -0.1835864210556324, 0.9830035737493451 ] ] }, { "task_id": "0003586", "id": "RH20T_cfg7_task_0039_user_0014_scene_0010_cfg_0007_104122064161#152", "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 water 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003586/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6126648690459638, 0.7903428105808846 ], [ 0.7821597785873946, -0.6230779090612328 ], [ -0.8320502941070744, 0.554700196071383 ], [ -0.6768907372569559, -0.7360835073656621 ] ] }, { "task_id": "0003587", "id": "RH20T_cfg4_task_0013_user_0010_scene_0007_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the block from the desk and place it on the scale', and now you are performing subtask 'pick up the block from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003587/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.881399046629479, 0.47237243844306315 ], [ -0.4079400621821264, 0.9130087105980925 ], [ 0.3070746431749955, -0.9516854330706913 ], [ -0.9408014813939811, -0.338958069098363 ] ] }, { "task_id": "0003588", "id": "RH20T_cfg2_task_0028_user_0003_scene_0007_cfg_0002_037522062165#249", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the handle closed'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003588/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49091467819495715, 0.8712076553455793 ], [ 0.8658322538550142, -0.5003343963634187 ], [ -0.3362169405924867, -0.9417845660545878 ], [ -0.9284766907128456, 0.3713906762851382 ] ] }, { "task_id": "0003589", "id": "RH20T_cfg3_task_0064_user_0010_scene_0002_cfg_0003_104122062823#199", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the roll of paper onto the counter', and now you are performing subtask 'pull the roll of paper to the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003589/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6241000602217208, 0.7813444277853683 ], [ 0.8588793067352885, -0.5121780319985526 ], [ -0.7808688093210792, 0.6246950474568633 ], [ -0.619503970490945, -0.7849935226140115 ] ] }, { "task_id": "0003590", "id": "RH20T_cfg7_task_0036_user_0020_scene_0005_cfg_0007_104122064161#96", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the test tube', and now you are performing subtask 'pick up the test tube on the wooden base'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003590/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6231754411383749, -0.782082073418124 ], [ -0.770703336577746, -0.6371941360275764 ], [ -0.5761716866239679, 0.8173286900218859 ], [ 0.7808688093210792, 0.6246950474568633 ] ] }, { "task_id": "0003591", "id": "RH20T_cfg7_task_0004_user_0014_scene_0008_cfg_0007_104122064161#117", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003591/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9998825035647664, 0.015329026878931989 ], [ 0.08608212095024907, 0.9962880449210996 ], [ 0.0, -0.9999999989999999 ], [ 0.9937666201130807, -0.11148051286670752 ] ] }, { "task_id": "0003592", "id": "RH20T_cfg4_task_0095_user_0014_scene_0002_cfg_0004_038522062288#133", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'take down the photo frame from the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003592/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.05963746401537444, 0.9982201024252191 ], [ 0.9980047604558435, -0.0631387211422143 ], [ -0.9999999996666666, 0.0 ], [ 0.111380844071248, -0.9937777958749009 ] ] }, { "task_id": "0003593", "id": "RH20T_cfg3_task_0022_user_0011_scene_0008_cfg_0003_104122062823#232", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003593/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5944125914055731, 0.8041602273045535 ], [ 0.6026949538174838, 0.7979716740855788 ], [ 0.7708188061750305, -0.6370544466895282 ], [ -0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0003594", "id": "RH20T_cfg4_task_0102_user_0014_scene_0016_cfg_0004_104122062823#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003594/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9507405403870491, 0.3099877817988023 ], [ 0.37989653360352815, -0.925028985359931 ], [ -0.9652000116931096, -0.26151278635588954 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0003595", "id": "RH20T_cfg2_task_0001_user_0006_scene_0006_cfg_0002_037522062165#185", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003595/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9850611868435304, -0.17220469846788583 ], [ -0.16819890898109147, -0.9857530760883126 ], [ -0.9906550198240266, 0.1363914648995954 ], [ 0.2747211278785101, 0.9615239475747854 ] ] }, { "task_id": "0003596", "id": "RH20T_cfg3_task_0028_user_0011_scene_0004_cfg_0003_038522062288#146", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003596/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9363291774594555, -0.35112344154729586 ], [ -0.46883597295587287, -0.8832852486385812 ], [ -0.9065237924293824, 0.42215472727360287 ], [ 0.39393042439413894, 0.9191402617319371 ] ] }, { "task_id": "0003598", "id": "RH20T_cfg5_task_0029_user_0010_scene_0008_cfg_0005_104122063678#180", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003598/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.08394181808947551, -0.9964706574585293 ], [ -0.995443970218132, -0.09534832015490813 ], [ -0.1251605348133142, 0.992136502969851 ] ] }, { "task_id": "0003599", "id": "RH20T_cfg3_task_0042_user_0010_scene_0004_cfg_0003_104122062823#214", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'twist the lid clockwise to tighten the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003599/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6949660621187529, -0.7190425387299099 ], [ -0.7874039657867435, 0.6164373404193723 ], [ 0.7245150325805052, 0.6892589989001737 ], [ 0.7071067810198809, -0.7071067810198809 ] ] }, { "task_id": "0003600", "id": "RH20T_cfg2_task_0044_user_0007_scene_0009_cfg_0002_037522062165#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the bag containing items to the left', and now you are performing subtask 'pick up a bag of things 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003600/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9440931148894149, 0.32967892019114886 ], [ 0.4754560905999623, -0.8797394534243651 ], [ -0.3713906762851382, 0.9284766907128456 ], [ -0.8713492621682651, -0.4906632891493107 ] ] }, { "task_id": "0003601", "id": "RH20T_cfg2_task_0016_user_0003_scene_0007_cfg_0002_037522062165#188", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003601/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.12395382171527086, -0.992287987472477 ], [ -0.9970617704529088, 0.07660173562858194 ], [ -0.13610622830714136, 0.9906942488053538 ] ] }, { "task_id": "0003603", "id": "RH20T_cfg4_task_0201_user_0017_scene_0006_cfg_0004_104122062823#180", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'the medium pipette will be inserted into the holder for medium pipette tips', and now you are performing subtask 'pick up the medium pipette 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003603/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5194286813696796, -0.8545138061907227 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.8411982466988672, -0.5407268346871197 ], [ -0.5657222257325484, 0.8245958787868223 ] ] }, { "task_id": "0003604", "id": "RH20T_cfg4_task_0108_user_0007_scene_0008_cfg_0004_104122062823#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sharpen the pencil with a pencil sharpener', and now you are performing subtask 'rotate the lever around the horizontal axis'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003604/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8865956127725597, 0.46254537011243485 ], [ 0.53488468341884, -0.844925070905064 ], [ -0.8744116575328116, -0.4851847618904793 ], [ -0.5299989399470002, 0.8479983039152004 ] ] }, { "task_id": "0003606", "id": "RH20T_cfg4_task_0105_user_0007_scene_0001_cfg_0004_104122062823#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the cube on the ground'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003606/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.49472527295261115, 0.8690494256956647 ], [ 0.8393987745860959, 0.5435160505664581 ], [ -0.8436614876674016, -0.5368754921519828 ], [ 0.6475109025222894, -0.7620561863240599 ] ] }, { "task_id": "0003607", "id": "RH20T_cfg4_task_0064_user_0007_scene_0005_cfg_0004_104122062823#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the roll of paper down from the shelf and place it on the table', 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003607/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6585046078065712, 0.7525766946360813 ], [ 0.7696639365059046, 0.6384492343501047 ], [ 0.564981493518175, -0.8251035765175015 ], [ -0.7931885884098354, -0.6089760777045456 ] ] }, { "task_id": "0003608", "id": "RH20T_cfg3_task_0041_user_0010_scene_0007_cfg_0003_104122062823#128", "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 left side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003608/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8941162503818693, -0.44783493700588667 ], [ -0.1925066552087155, -0.9812956678291985 ], [ 0.31622776596683794, 0.9486832979005138 ], [ -0.9592319150722565, 0.28262012155331684 ] ] }, { "task_id": "0003610", "id": "RH20T_cfg2_task_0054_user_0007_scene_0004_cfg_0002_105422061350#401", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003610/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9962753815149975, 0.08622855783988476 ], [ -0.010339635103874223, -0.9999465445442166 ], [ 0.0, 0.9999999989999999 ], [ -0.9999833976981856, 0.005762319671140178 ] ] }, { "task_id": "0003612", "id": "RH20T_cfg6_task_0013_user_0014_scene_0006_cfg_0006_104122064161#42", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003612/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.44735794763915787, -0.8943550003684669 ], [ -0.8631870268690707, -0.5048843002559441 ], [ 0.8944271908665825, 0.44721359543329126 ], [ -0.5112649253013303, 0.8594231647777626 ] ] }, { "task_id": "0003613", "id": "RH20T_cfg4_task_0004_user_0010_scene_0002_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the small block on the right and move it to the left', and now you are performing subtask 'pick up the small piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003613/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6005656671173565, -0.7995754370163485 ], [ 0.7175806916131716, 0.6964753771539607 ], [ -0.601281234615525, -0.7990374690208402 ], [ -0.6345224117152658, 0.7729044630683942 ] ] }, { "task_id": "0003614", "id": "RH20T_cfg6_task_0015_user_0014_scene_0010_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 drumstick 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003614/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6731064710144223, 0.7395455893171905 ], [ 0.7125581168950132, -0.7016130914165104 ], [ -0.8075264016717136, -0.5898314255811861 ] ] }, { "task_id": "0003615", "id": "RH20T_cfg4_task_0096_user_0007_scene_0002_cfg_0004_104122062823#112", "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 up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003615/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6109311052937371, 0.7916837655178821 ], [ -0.8479983039152004, 0.5299989399470002 ], [ 0.7600436507646019, -0.6498720250421738 ], [ -0.5460831802932056, -0.8377309593185979 ] ] }, { "task_id": "0003616", "id": "RH20T_cfg4_task_0096_user_0007_scene_0002_cfg_0004_104122062823#225", "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 up'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003616/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.008133837053391631, -0.9999669198002447 ], [ -0.9923030655805389, 0.12383305713526006 ], [ 0.9999999998, 0.0 ], [ -0.0037780251309370494, 0.9999928632375883 ] ] }, { "task_id": "0003617", "id": "RH20T_cfg4_task_0095_user_0014_scene_0004_cfg_0004_038522062288#198", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the photo frame down from the bracket', and now you are performing subtask 'pick up the photo frame on the bracket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003617/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.005859001628225254, 0.9999828359026571 ], [ -0.9999999989999999, 0.0 ], [ 0.9920726219980555, 0.1256658771580554 ], [ 0.14968153076583007, -0.9887342612388821 ] ] }, { "task_id": "0003618", "id": "RH20T_cfg2_task_0060_user_0007_scene_0004_cfg_0002_037522062165#106", "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 'turn the knob clockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003618/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5884258342407699, 0.8085511966462322 ], [ 0.7633049705648546, 0.6460383285154113 ], [ 0.6698407899488442, -0.7425047583151966 ], [ -0.79999999984, -0.59999999988 ] ] }, { "task_id": "0003619", "id": "RH20T_cfg6_task_0064_user_0007_scene_0008_cfg_0006_104122063633#116", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003619/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4304710379314499, 0.9026043903628101 ], [ 0.894856918370567, -0.44635310645758075 ], [ -0.9486832977505137, 0.31622776591683793 ], [ -0.2051695255712615, -0.9787264509437065 ] ] }, { "task_id": "0003621", "id": "RH20T_cfg1_task_0020_user_0001_scene_0002_cfg_0001_039422060546#171", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003621/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.050278308206952865, 0.9987352460606598 ], [ -0.9999999995, 0.0 ], [ 0.9978481462934847, -0.06556734658849904 ], [ -0.037036866454889114, -0.9993138998949243 ] ] }, { "task_id": "0003622", "id": "RH20T_cfg4_task_0063_user_0016_scene_0008_cfg_0004_104122062823#86", "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 surface shovel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003622/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6091806035354922, -0.7930315203547292 ], [ -0.7946051286754626, -0.6071265843978927 ], [ 0.7295372041068211, 0.6839411288501448 ], [ -0.6204757452138991, 0.7842256369191565 ] ] }, { "task_id": "0003623", "id": "RH20T_cfg2_task_0059_user_0007_scene_0007_cfg_0002_037522062165#304", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'turn the knob clockwise to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003623/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9929093644358485, -0.11887385757852484 ], [ 0.0, 0.9999999989999999 ], [ 0.11282099978102847, -0.9936153289922661 ], [ -0.9990762041052635, 0.042973694170012955 ] ] }, { "task_id": "0003624", "id": "RH20T_cfg1_task_0007_user_0004_scene_0002_cfg_0001_039422060546#192", "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 'pick up a 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003624/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.514581025434697, -0.8574417579419465 ], [ -0.8621694573799134, -0.5066200023303719 ], [ -0.40354810198316937, 0.9149584304140717 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0003625", "id": "RH20T_cfg2_task_0096_user_0007_scene_0002_cfg_0002_105422061350#23", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003625/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.8978595967243274, 0.44028189216685765 ], [ 0.5778246683917494, -0.8161609232240691 ], [ -0.8842914044252825, -0.466935447422405 ] ] }, { "task_id": "0003626", "id": "RH20T_cfg4_task_0062_user_0007_scene_0003_cfg_0004_104122062823#99", "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 on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003626/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16353873711549594, -0.9865369133806746 ], [ 0.9701424999100378, 0.24253562497750944 ], [ -0.9854304993301388, -0.170078602387112 ], [ -0.305236174871468, 0.9522766811960873 ] ] }, { "task_id": "0003627", "id": "RH20T_cfg3_task_0035_user_0010_scene_0008_cfg_0003_104122062823#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a square block from the desk', and now you are performing subtask 'pick up the square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003627/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7701750319053046, 0.6378325957723258 ], [ 0.7238968986431441, -0.6899081678997848 ], [ -0.7071067811240475, 0.7071067811240475 ], [ -0.7216818254920857, -0.6922249220841524 ] ] }, { "task_id": "0003628", "id": "RH20T_cfg4_task_0016_user_0016_scene_0003_cfg_0004_104122062823#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue beside 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003628/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9349206277938242, -0.35485690034942485 ], [ 0.3162277659835046, 0.9486832979505138 ], [ -0.18564737276687496, -0.9826164322790236 ], [ -0.9742808547244786, 0.22533711659941782 ] ] }, { "task_id": "0003629", "id": "RH20T_cfg5_task_0046_user_0010_scene_0009_cfg_0005_104122063678#521", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003629/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6232042277871248, 0.782059134892147 ], [ -0.8320502941070744, 0.554700196071383 ], [ 0.8459448060025612, -0.533270461583322 ], [ -0.5370124020409671, -0.8435743476743415 ] ] }, { "task_id": "0003630", "id": "RH20T_cfg6_task_0129_user_0014_scene_0003_cfg_0006_104122064161#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the lamp holder and the bulb 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003630/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6616216370576634, 0.7498378553320185 ], [ 0.694989945300212, -0.719019454487574 ], [ -0.5528601265391233, -0.8332740728494704 ], [ -0.7306589109411061, 0.6827426717749205 ] ] }, { "task_id": "0003631", "id": "RH20T_cfg2_task_0004_user_0006_scene_0005_cfg_0002_037522062165#210", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block backwards', and now you are performing subtask 'pick up the small block 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003631/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ -0.10387927317666423, -0.994589913785721 ], [ -0.9965770486977295, -0.08266913576978667 ], [ 0.0946280778085041, 0.9955126954942703 ] ] }, { "task_id": "0003632", "id": "RH20T_cfg4_task_0004_user_0010_scene_0004_cfg_0004_104122062823#160", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003632/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998222795102665, 0.01885230476346745 ], [ -0.05872202194974621, 0.9982743731456856 ], [ 0.14807524276606857, -0.9889760980325915 ], [ -0.997361745877524, -0.07259165144930321 ] ] }, { "task_id": "0003633", "id": "RH20T_cfg4_task_0109_user_0007_scene_0007_cfg_0004_104122062823#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003633/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9272634809587021, -0.3744094508427246 ], [ 0.38074980523358476, 0.9246780984244202 ], [ -0.269126233545424, -0.9631049114284767 ], [ -0.8659293667280088, 0.5001663041809491 ] ] }, { "task_id": "0003634", "id": "RH20T_cfg7_task_0051_user_0014_scene_0008_cfg_0007_104122064161#107", "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 plate from the dish 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003634/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.79999999984, -0.59999999988 ], [ -0.5827674687059008, 0.8126389588360362 ], [ 0.8544883121426752, 0.519470619392052 ], [ 0.5838102501820581, -0.8118901352907072 ] ] }, { "task_id": "0003635", "id": "RH20T_cfg6_task_0042_user_0014_scene_0006_cfg_0006_104122064161#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid on (needs to be rotated)', and now you are performing subtask 'push the cap above the bottle'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003635/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9985807002013709, -0.053259601813568966 ], [ -0.12449229835625208, 0.9922205740912542 ], [ 0.9982891761466397, 0.05846982801807507 ], [ 0.0, -0.9999999996666666 ] ] }, { "task_id": "0003637", "id": "RH20T_cfg7_task_0020_user_0014_scene_0004_cfg_0007_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the small flag', and now you are performing subtask 'pick up the small flag 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003637/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7584958532875206, 0.6516778656250618 ], [ -0.7071067810865475, 0.7071067810865475 ], [ 0.782184569364496, -0.6230467875272915 ], [ -0.6139610721814347, -0.7893363046546277 ] ] }, { "task_id": "0003638", "id": "RH20T_cfg6_task_0127_user_0014_scene_0009_cfg_0006_104122064161#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp', and now you are performing subtask 'pick up the power cord of the desk lamp between the two blocks'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003638/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4467762183700761, -0.8946457459234545 ], [ 0.8823529411245675, 0.470588235266436 ], [ -0.8841714371980535, -0.4671625730333377 ], [ -0.48540381718453923, 0.8742900744390721 ] ] }, { "task_id": "0003639", "id": "RH20T_cfg4_task_0100_user_0014_scene_0007_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stir the beaker with a glass rod', and now you are performing subtask 'stir the beaker with a glass rod'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003639/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8755476109781144, -0.48313184630131406 ], [ 0.4722214125005528, 0.8814799700010318 ], [ -0.5126186874947375, -0.858616376055787 ], [ -0.860334495608023, 0.5097298850046843 ] ] }, { "task_id": "0003640", "id": "RH20T_cfg4_task_0126_user_0014_scene_0010_cfg_0004_038522062288#97", "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 cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003640/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7136571744355426, 0.7004951372969533 ], [ -0.5931990380247154, 0.8050558373192567 ], [ 0.5144447737717066, -0.8575235126449756 ], [ -0.7059234849704633, -0.70828810054042 ] ] }, { "task_id": "0003641", "id": "RH20T_cfg7_task_0038_user_0014_scene_0002_cfg_0007_104122064161#70", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003641/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3728059629637482, 0.927909324222293 ], [ 0.9501999911747672, -0.3116407816244086 ], [ -0.8944271905999158, 0.4472135952999579 ], [ -0.42774757576616396, -0.9038982306798535 ] ] }, { "task_id": "0003642", "id": "RH20T_cfg4_task_0101_user_0007_scene_0011_cfg_0004_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the stains on the table with a cloth', and now you are performing subtask 'clean the stains on the table with a cloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003642/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.032458358986325625, -0.9994730886481711 ], [ -0.9708155713196821, -0.2398272846930461 ], [ 0.9871673987228893, 0.15968884391105562 ], [ -0.02842570507882873, 0.9995959080002136 ] ] }, { "task_id": "0003643", "id": "RH20T_cfg6_task_0012_user_0014_scene_0002_cfg_0006_104122063633#167", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003643/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999988, 0.79999999984 ], [ 0.8726038237336536, 0.488428671154148 ], [ 0.5925676668462152, -0.805520676462394 ], [ -0.8309917292595232, -0.5562847705108124 ] ] }, { "task_id": "0003644", "id": "RH20T_cfg4_task_0103_user_0007_scene_0007_cfg_0004_104122062823#126", "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 'slide the plate from the table to the target point'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003644/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8822960624561765, 0.47069486737623 ], [ 0.4812678378730961, -0.8765735954436201 ], [ -0.8549412807312498, -0.5187247887865108 ], [ -0.48564293113146223, 0.8741572760366321 ] ] }, { "task_id": "0003645", "id": "RH20T_cfg7_task_0031_user_0020_scene_0001_cfg_0007_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid from the side of the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003645/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9994428488492965, -0.03337651695432762 ], [ 0.04725623917416082, -0.9988827998614825 ], [ -0.11043152606265141, 0.9938837345638627 ], [ -0.9853058889771406, -0.1707990197482607 ] ] }, { "task_id": "0003646", "id": "RH20T_cfg7_task_0001_user_0014_scene_0010_cfg_0007_104122064161#79", "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 red button on the white base at the left position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003646/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.951379889223797, -0.308019977242574 ], [ 0.2425356250069212, -0.9701425000276848 ], [ -0.39054611573046444, 0.9205833647681488 ], [ 0.9935436790734259, 0.11345024360150803 ] ] }, { "task_id": "0003647", "id": "RH20T_cfg3_task_0031_user_0010_scene_0002_cfg_0003_104122062823#71", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'fold the cardboard box on the table to the closed state', and now you are performing subtask 'fold the cardboard box on the table to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003647/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.12441446233278342, -0.9922303369492612 ], [ -0.992295120859702, -0.12389670341873284 ], [ 0.99999999975, 0.0 ], [ 0.13659086577460566, 0.9906275462488128 ] ] }, { "task_id": "0003648", "id": "RH20T_cfg5_task_0078_user_0007_scene_0001_cfg_0005_104122063678#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close the microwave door', and now you are performing subtask 'push the microwave door to the position of closing the microwave'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003648/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.996677988651127, 0.0814431515742366 ], [ 0.08703294951094573, -0.9962054334821835 ], [ -0.9998330094411119, 0.018274387320226834 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0003649", "id": "RH20T_cfg6_task_0039_user_0014_scene_0007_cfg_0006_104122064161#145", "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 filled with water 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003649/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9642020589944149, -0.2651686056661511 ], [ -0.19960748846017146, -0.9798759363055216 ], [ -0.9990663572154564, 0.04320201245587845 ], [ 0.16439898727833027, 0.9863939236699816 ] ] }, { "task_id": "0003650", "id": "RH20T_cfg2_task_0126_user_0007_scene_0009_cfg_0002_105422061350#108", "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 cord 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003650/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7485160130532758, -0.6631167153697971 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6505942534103265, -0.7594255180262642 ], [ -0.7187037809548588, 0.6953163849940474 ] ] }, { "task_id": "0003651", "id": "RH20T_cfg5_task_0119_user_0007_scene_0005_cfg_0005_104122063678#190", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the handle of the water tap 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003651/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196071383, 0.8320502941070744 ], [ 0.8328192203220316, -0.5535450715724995 ], [ -0.5203955863879701, -0.8539253091857161 ], [ -0.7395783309916579, 0.6730704958082725 ] ] }, { "task_id": "0003652", "id": "RH20T_cfg7_task_0044_user_0020_scene_0007_cfg_0007_104122064161#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag', and now you are performing subtask 'pick up a bag of items in the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003652/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6386297325079535, 0.7695141745002622 ], [ 0.6568655640838684, -0.7540077126401171 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6796117652085489, -0.7335719791473228 ] ] }, { "task_id": "0003653", "id": "RH20T_cfg7_task_0075_user_0014_scene_0005_cfg_0007_104122064161#102", "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 missing white chess piece from one side of the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003653/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9557378369826928, 0.2942196236821124 ], [ 0.18355360159305756, -0.9830097025676894 ], [ -0.1414213562173095, 0.9899494935211665 ], [ -0.9978031276551576, -0.06624891275776229 ] ] }, { "task_id": "0003654", "id": "RH20T_cfg4_task_0107_user_0007_scene_0001_cfg_0004_104122062823#183", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003654/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.31622776591683793, -0.9486832977505137 ], [ -0.9024833029100137, 0.4307248402038506 ], [ 0.35620832429921023, 0.934406565526992 ], [ 0.9679984815718274, -0.2509560512811687 ] ] }, { "task_id": "0003655", "id": "RH20T_cfg6_task_0045_user_0014_scene_0002_cfg_0006_104122064161#138", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003655/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.536875492172571, 0.8436614876997545 ], [ 0.9038326241507492, 0.4278861852417892 ], [ 0.4360760019701362, -0.899909840209419 ], [ -0.7995337535022006, -0.6006211593098285 ] ] }, { "task_id": "0003656", "id": "RH20T_cfg4_task_0062_user_0015_scene_0003_cfg_0004_104122062823#255", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003656/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07914087442431256, 0.9968634419996327 ], [ 0.9884310708198609, 0.15167075604052044 ], [ -0.9999999989999999, 0.0 ], [ 0.031123777245501215, -0.9995155378932198 ] ] }, { "task_id": "0003657", "id": "RH20T_cfg3_task_0032_user_0011_scene_0003_cfg_0003_104122062823#421", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003657/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9932490407983853, 0.11600147823664897 ], [ 0.07752961748965002, -0.9969900493043592 ], [ -0.16439898729634828, 0.9863939237780897 ], [ -0.9779204276221611, -0.20897759985053338 ] ] }, { "task_id": "0003658", "id": "RH20T_cfg4_task_0039_user_0010_scene_0010_cfg_0004_104122062823#179", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003658/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.59999999988, 0.79999999984 ], [ 0.8767689998569026, 0.48091175998297936 ], [ 0.6687309709589159, -0.7435044643311468 ], [ -0.7841842196137283, -0.6205280893793673 ] ] }, { "task_id": "0003660", "id": "RH20T_cfg7_task_0064_user_0020_scene_0006_cfg_0007_104122064161#147", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003660/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6456412562245605, -0.763640863404239 ], [ -0.7183180817378682, -0.6957148363003547 ], [ -0.7090607229933473, 0.7051474250879398 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003661", "id": "RH20T_cfg7_task_0014_user_0014_scene_0002_cfg_0007_104122064161#81", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003661/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9502690614091184, 0.3114301060087691 ], [ 0.3973643575661058, -0.91766092176581 ], [ -0.8906523159170645, -0.4546850032182385 ], [ -0.3417430630575073, 0.939793423408145 ] ] }, { "task_id": "0003662", "id": "RH20T_cfg6_task_0032_user_0014_scene_0009_cfg_0006_104122064161#92", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003662/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5534004972556301, -0.8329152955956695 ], [ -0.8900102919013172, 0.45594043504577675 ], [ 0.8944271905999158, -0.4472135952999579 ], [ 0.4067804604307127, 0.913525947640119 ] ] }, { "task_id": "0003663", "id": "RH20T_cfg6_task_0126_user_0014_scene_0010_cfg_0006_104122064161#88", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug the plug into the socket', and now you are performing subtask 'pick up the plug on the block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003663/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7404214171592017, -0.6721429349565161 ], [ -0.7256864400876062, -0.6880255741416719 ], [ 0.768221279564589, 0.6401843996371575 ], [ -0.6803664844215174, 0.7328720535508944 ] ] }, { "task_id": "0003664", "id": "RH20T_cfg6_task_0081_user_0020_scene_0008_cfg_0006_104122064161#138", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003664/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9953488537951807, -0.09633617829569616 ], [ 0.043580312417057766, -0.9990499268653353 ], [ 0.0, 0.9999999989999999 ], [ -0.9996913785888113, -0.024842455096102663 ] ] }, { "task_id": "0003665", "id": "RH20T_cfg5_task_0041_user_0010_scene_0001_cfg_0005_104122063678#419", "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 cloth on the tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003665/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.739386988408602, 0.6732806854292331 ], [ 0.7676079789458007, -0.6409196444631287 ], [ -0.597162070438852, -0.8021206029202739 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003666", "id": "RH20T_cfg4_task_0086_user_0007_scene_0002_cfg_0004_104122062823#184", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the wooden stick 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003666/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9748093713161367, -0.22303965924076952 ], [ 0.1414213562273095, 0.9899494935911665 ], [ -0.03929765136659121, -0.999227548958229 ], [ -0.9910260586354946, 0.13366881126649244 ] ] }, { "task_id": "0003667", "id": "RH20T_cfg3_task_0016_user_0011_scene_0005_cfg_0003_104122062823#176", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'push the billiard ball to the pocket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003667/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06237828615128948, 0.9980525784206317 ], [ 0.9998182105286582, 0.019066879536828337 ], [ 0.015634344028721648, -0.9998777761740639 ], [ -0.9976694188431628, 0.06823291511540291 ] ] }, { "task_id": "0003668", "id": "RH20T_cfg3_task_0089_user_0010_scene_0007_cfg_0003_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object to the left with obstacles', and now you are performing subtask 'push a block to 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003668/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9601255813285874, -0.27956907568334904 ], [ -0.31377643888645457, -0.949496891200669 ], [ -0.9470320400969642, 0.32113908985014894 ], [ 0.3713906763311153, 0.9284766908277882 ] ] }, { "task_id": "0003669", "id": "RH20T_cfg3_task_0038_user_0010_scene_0007_cfg_0003_104122062823#98", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003669/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.841178475326012, 0.5407575912810078 ], [ 0.4247841803989695, 0.9052946482128212 ], [ 0.8036276462394902, -0.5951324274475192 ], [ -0.6356859152488369, -0.7719478072734247 ] ] }, { "task_id": "0003670", "id": "RH20T_cfg1_task_0089_user_0007_scene_0004_cfg_0001_038522062547#258", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003670/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9899494935211665, -0.1414213562173095 ], [ -0.2673149733668581, -0.9636092076219882 ], [ -0.9976057557802385, 0.06915747272810978 ], [ 0.0672429437352817, 0.9977366318411958 ] ] }, { "task_id": "0003671", "id": "RH20T_cfg4_task_0024_user_0014_scene_0005_cfg_0004_038522062288#91", "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 power strip button to turn it off'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003671/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9986588286229806, 0.051773970423141025 ], [ 0.18802074732500615, 0.9821650566861694 ], [ -0.05872202194802207, -0.9982743731163751 ], [ 0.9993657169840234, -0.035611286371161066 ] ] }, { "task_id": "0003672", "id": "RH20T_cfg1_task_0020_user_0004_scene_0006_cfg_0001_039422060546#382", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003672/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ -0.12103049950797046, -0.992648788942419 ], [ -0.9947081828904227, -0.10274060001203694 ], [ 0.026668158967531955, 0.9996443414021221 ] ] }, { "task_id": "0003673", "id": "RH20T_cfg6_task_0105_user_0014_scene_0005_cfg_0006_104122064161#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object at the surface in front of the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003673/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7071067809365474, -0.7071067809365474 ], [ -0.6230282740850166, 0.7821993158336598 ], [ 0.7776583280615097, 0.62868714381366 ], [ 0.6240095696094424, -0.7814166987183205 ] ] }, { "task_id": "0003674", "id": "RH20T_cfg7_task_0010_user_0014_scene_0002_cfg_0007_104122064161#100", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003674/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9872744998710561, 0.15902534987968406 ], [ 0.11231431176895153, -0.9936727305163742 ], [ -0.999929998177709, -0.011832106504200723 ], [ -0.11043152606265141, 0.9938837345638627 ] ] }, { "task_id": "0003676", "id": "RH20T_cfg6_task_0039_user_0014_scene_0001_cfg_0006_104122064161#191", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003676/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, 0.8944271905999158 ], [ 0.8532808173930473, 0.5214516724194613 ], [ 0.4418101216453152, -0.8971085867450784 ], [ -0.8413913380005994, -0.5404263283164146 ] ] }, { "task_id": "0003677", "id": "RH20T_cfg2_task_0046_user_0007_scene_0005_cfg_0002_037522062165#258", "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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003677/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9884797547882325, 0.1513531445784856 ], [ 0.013768154964125135, -0.9999052144622929 ], [ -0.9978344091317588, 0.0657760743178997 ], [ 0.0, 0.9999999998 ] ] }, { "task_id": "0003678", "id": "RH20T_cfg5_task_0056_user_0010_scene_0005_cfg_0005_104122063678#250", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'received something handed over by a human', and now you are performing subtask 'pick up the object handed over by a human'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003678/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8944271909499159, -0.4472135954749579 ], [ -0.3999936215035015, 0.9165179227688424 ], [ 0.9112771844014008, 0.41179350794962205 ], [ 0.33275206592057105, -0.9430143491090642 ] ] }, { "task_id": "0003679", "id": "RH20T_cfg1_task_0002_user_0001_scene_0007_cfg_0001_819112070044#388", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin', and now you are performing subtask 'pick up the tissue 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003679/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.03907812072554348, 0.9992361585133717 ], [ 0.9911196850098074, 0.1329728167185316 ], [ -0.9999999989999999, 0.0 ], [ -0.0899651745182017, -0.9959449118168683 ] ] }, { "task_id": "0003680", "id": "RH20T_cfg6_task_0035_user_0014_scene_0010_cfg_0006_104122064161#64", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up the first small block 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003680/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7238615745058985, 0.6899452304015454 ], [ 0.7300934729693949, -0.6833472914466606 ], [ -0.6401843995825127, 0.7682212794990152 ], [ -0.6992718271769327, -0.7148558677919864 ] ] }, { "task_id": "0003681", "id": "RH20T_cfg4_task_0013_user_0010_scene_0010_cfg_0004_038522062288#108", "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 wooden 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003681/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.7838929560927255, -0.6208959924079138 ], [ -0.662949673070491, -0.7486639639890044 ], [ -0.7545336379194624, 0.6562613726618547 ] ] }, { "task_id": "0003682", "id": "RH20T_cfg5_task_0042_user_0007_scene_0010_cfg_0005_104122063678#269", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'screw the lid onto the jar', and now you are performing subtask 'pick up the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003682/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.025912430680180645, 0.9996642165928743 ], [ -0.9999999989999999, 0.0 ], [ 0.9993699100161333, -0.035493421282624 ], [ 0.11475489309564481, -0.9933938365575897 ] ] }, { "task_id": "0003683", "id": "RH20T_cfg4_task_0033_user_0016_scene_0010_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the large block on the cardboard', and now you are performing subtask 'slide the large square 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003683/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5554616271937759, -0.8315421701364536 ], [ -0.7815082300035144, -0.623894932209562 ], [ 0.774865020756076, 0.6321267274589041 ], [ -0.6105907703510136, 0.7919462804775054 ] ] }, { "task_id": "0003684", "id": "RH20T_cfg4_task_0106_user_0007_scene_0013_cfg_0004_104122062823#189", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the object down from the shelf', and now you are performing subtask 'pick up the object from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003684/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.983389439421222, -0.1815081552845897 ], [ -0.3542013999213906, 0.9351691656025273 ], [ 0.31622776599183794, -0.9486832979755138 ], [ 0.9311829012463712, 0.364552334276426 ] ] }, { "task_id": "0003685", "id": "RH20T_cfg3_task_0017_user_0011_scene_0001_cfg_0003_104122062823#166", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003685/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.20952908871623932, 0.9778024140091168 ], [ 0.9953945198590461, 0.09586318289405552 ], [ 0.3463709849595612, -0.9380976179365043 ], [ -0.9436142759120296, -0.3310469729434421 ] ] }, { "task_id": "0003686", "id": "RH20T_cfg6_task_0105_user_0020_scene_0005_cfg_0006_104122064161#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the object on the shelf', and now you are performing subtask 'pick up the object 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003686/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.24253562497750944, 0.9701424999100378 ], [ 0.9959281921228388, -0.09015007562356289 ], [ -0.3624385038561627, -0.9320076882314364 ], [ -0.9924356186507872, 0.12276621209937728 ] ] }, { "task_id": "0003687", "id": "RH20T_cfg4_task_0217_user_0007_scene_0001_cfg_0004_104122062823#168", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003687/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.536875492172571, 0.8436614876997545 ], [ 0.9091141978761086, -0.41654696640364536 ], [ -0.5594599098919572, -0.8288574118771473 ], [ -0.9157937555654452, 0.401648848208653 ] ] }, { "task_id": "0003688", "id": "RH20T_cfg3_task_0075_user_0010_scene_0007_cfg_0003_104122062823#138", "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 white chess piece 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003688/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9995791488098866, -0.02900905487089496 ], [ -0.05304874980264432, -0.998591923732801 ], [ -0.9963511701178717, -0.08534837903995555 ] ] }, { "task_id": "0003689", "id": "RH20T_cfg2_task_0008_user_0013_scene_0010_cfg_0002_105422061350#212", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003689/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999132377296353, 0.013172585662575667 ], [ 0.0, 0.9999999995 ], [ -0.009346723366387422, -0.9999563184271162 ], [ -0.999525998954612, 0.030785993792387382 ] ] }, { "task_id": "0003691", "id": "RH20T_cfg4_task_0089_user_0015_scene_0006_cfg_0004_104122062823#122", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'pick up the big box on 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003691/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6489985055234523, -0.7607896817309797 ], [ 0.8253072612139828, 0.5646839155674619 ], [ -0.7705375687140852, -0.6373945835980931 ], [ -0.6137609289249935, 0.7894919392401225 ] ] }, { "task_id": "0003692", "id": "RH20T_cfg3_task_0010_user_0011_scene_0002_cfg_0003_104122062823#131", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003692/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999285715 ], [ 0.9953147342534473, -0.09668805395698897 ], [ -0.10519009804335984, -0.9944521322183529 ], [ -0.9914699125019404, 0.1303357687029729 ] ] }, { "task_id": "0003693", "id": "RH20T_cfg4_task_0103_user_0007_scene_0006_cfg_0004_104122062823#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drag the plate to the goal post', and now you are performing subtask 'slide the plate from the current position to the target point'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003693/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.984970728588854, 0.17272134732899125 ], [ 0.10955206768585549, -0.9939810584039083 ], [ -0.9999385424002607, -0.01108654240248621 ], [ -0.11043152606265141, 0.9938837345638627 ] ] }, { "task_id": "0003694", "id": "RH20T_cfg6_task_0079_user_0014_scene_0002_cfg_0006_104122064161#142", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003694/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9914714558084781, -0.13032402816448418 ], [ 0.1365033416685475, -0.9906396104100218 ], [ 0.0, 0.9999999989999999 ], [ -0.9936933161002193, -0.11213203617945049 ] ] }, { "task_id": "0003695", "id": "RH20T_cfg1_task_0020_user_0004_scene_0010_cfg_0001_039422060546#268", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003695/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06922183947151862, -0.9976012915690212 ], [ -0.9999306665936715, -0.01177548324002219 ], [ -0.025712491294356453, 0.9996693792406756 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003696", "id": "RH20T_cfg4_task_0070_user_0007_scene_0002_cfg_0004_104122062823#123", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window to one side to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003696/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4280143175283511, 0.9037719535318297 ], [ 0.9523291871944459, -0.30507231801257567 ], [ -0.4250573331547352, -0.9051664286369576 ], [ -0.9486832977505137, 0.31622776591683793 ] ] }, { "task_id": "0003698", "id": "RH20T_cfg1_task_0073_user_0010_scene_0002_cfg_0001_819112070044#232", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put things in the drawer', and now you are performing subtask 'transfer the orange ball from the table to above 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003698/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9632497400081056, -0.2686074056579916 ], [ 0.2747211278596422, 0.9615239475087477 ], [ -0.2953436801783658, -0.9553910772969879 ], [ -0.9486655504179231, 0.3162810039352016 ] ] }, { "task_id": "0003699", "id": "RH20T_cfg5_task_0012_user_0007_scene_0009_cfg_0005_104122063678#211", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003699/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9759745105990938, 0.21788472792019958 ], [ 0.2292837496297296, -0.9733596263230417 ], [ -0.9127183881899437, -0.4085892116294204 ], [ -0.28734788553882246, 0.9578262851294083 ] ] }, { "task_id": "0003700", "id": "RH20T_cfg7_task_0015_user_0014_scene_0001_cfg_0007_104122064161#118", "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 tabletop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003700/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9857349555138032, -0.16830507264548028 ], [ -0.37057867053652166, -0.9288010814719071 ], [ 0.24253562497750944, 0.9701424999100378 ], [ -0.989887192753648, 0.141856778556057 ] ] }, { "task_id": "0003701", "id": "RH20T_cfg7_task_0025_user_0014_scene_0010_cfg_0007_104122064161#75", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once (with a weight pressing down on one end)', and now you are performing subtask 'unfold the paper 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003701/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9938160987640405, -0.11103856013756133 ], [ -0.08634296811344835, -0.9962654725811589 ], [ 0.23560002561456575, 0.9718501056600838 ], [ -0.9795628617813507, 0.20113826045466984 ] ] }, { "task_id": "0003702", "id": "RH20T_cfg3_task_0092_user_0010_scene_0009_cfg_0003_104122062823#154", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the hands of a clock clockwise', and now you are performing subtask 'turn the hands of a clock clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003702/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.995496600019215, 0.09479725391688908 ], [ -0.013054948583524479, -0.9999147805275616 ], [ -0.9948963125762164, -0.10090256301129097 ], [ 0.0, 0.9999999989999999 ] ] }, { "task_id": "0003703", "id": "RH20T_cfg4_task_0094_user_0007_scene_0005_cfg_0004_104122062823#68", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'press the lid of the box to open the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003703/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999230769 ], [ 0.9996412269740249, 0.026784647353774425 ], [ 0.13875924183882932, -0.990326144663622 ], [ -0.9999984178716179, -0.0017788350854344099 ] ] }, { "task_id": "0003704", "id": "RH20T_cfg2_task_0016_user_0003_scene_0010_cfg_0002_037522062165#167", "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 green pool 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003704/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7253678014177084, -0.6883614985357913 ], [ -0.6100424525682612, 0.7923687311249106 ], [ 0.6401653201924593, 0.76823717875594 ], [ 0.7071067806865474, -0.7071067806865474 ] ] }, { "task_id": "0003705", "id": "RH20T_cfg4_task_0022_user_0016_scene_0009_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wave the flag', and now you are performing subtask 'pick up the green flag 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003705/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9418815066835791, -0.3359452743639521 ], [ -0.31030846107770543, -0.9506359234657537 ], [ -0.9330654529088713, 0.35970663128160824 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003706", "id": "RH20T_cfg3_task_0020_user_0010_scene_0006_cfg_0003_104122062823#170", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003706/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.82588795869487, -0.5638342661481481 ], [ -0.6298086085238875, 0.7767503566971853 ], [ 0.8110416073003202, 0.5849884710211932 ], [ 0.554700196071383, -0.8320502941070744 ] ] }, { "task_id": "0003707", "id": "RH20T_cfg4_task_0068_user_0015_scene_0008_cfg_0004_104122062823#101", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally', and now you are performing subtask 'press a button 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003707/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6819117488057179, -0.7314344583356239 ], [ -0.7263239897608705, -0.6873525019215766 ], [ 0.6401843996371575, 0.768221279564589 ], [ -0.7335173021193293, 0.6796707787536409 ] ] }, { "task_id": "0003708", "id": "RH20T_cfg6_task_0129_user_0014_scene_0004_cfg_0006_104122064161#94", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the bulb holder with a bulb to the socket', and now you are performing subtask 'pick up the lamp holder and the light bulb 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003708/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5030200514485246, -0.8642747409479951 ], [ -0.9361052697436989, -0.35171995103786324 ], [ -0.5625145043578833, 0.8267874166840017 ], [ 0.8944271908665825, 0.44721359543329126 ] ] }, { "task_id": "0003709", "id": "RH20T_cfg4_task_0118_user_0007_scene_0005_cfg_0004_104122062823#92", "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 water tap to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003709/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8831247100470448, 0.4691383021075161 ], [ -0.46400699465098466, 0.8858315352427889 ], [ 0.5405767121661132, -0.841294727348077 ], [ -0.874758353156039, -0.4845594118204028 ] ] }, { "task_id": "0003710", "id": "RH20T_cfg1_task_0006_user_0004_scene_0007_cfg_0001_039422060546#198", "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 'push the small block from the left position to the right 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003710/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.40472618149824546, 0.9144379246344988 ], [ 0.9446331986724088, 0.3281282065990878 ], [ 0.46089444854803824, -0.8874549607149649 ], [ -0.9363291774594555, -0.35112344154729586 ] ] }, { "task_id": "0003711", "id": "RH20T_cfg7_task_0064_user_0014_scene_0007_cfg_0007_104122064161#95", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003711/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9985437437346647, 0.05394804767885664 ], [ -0.0653182980304423, 0.9978644797478294 ], [ 0.0, -0.9999999989999999 ], [ 0.998541285585589, -0.05399352721465082 ] ] }, { "task_id": "0003712", "id": "RH20T_cfg5_task_0046_user_0010_scene_0003_cfg_0005_104122063678#279", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003712/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.07406610480331433, 0.9972533339724989 ], [ 0.9928191544507814, -0.11962494119386417 ], [ -0.1237435004544164, -0.992314237575622 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0003713", "id": "RH20T_cfg4_task_0104_user_0015_scene_0009_cfg_0004_104122062823#170", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the plate on the countertop outside the goal', and now you are performing subtask 'pick up the plate 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003713/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9284766907128456, -0.3713906762851382 ], [ -0.3647093071628613, 0.9311214320746708 ], [ 0.8866272922813444, 0.4624846425362161 ], [ 0.47853899225664454, -0.8780663032425258 ] ] }, { "task_id": "0003715", "id": "RH20T_cfg2_task_0071_user_0014_scene_0004_cfg_0002_105422061350#119", "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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003715/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7156253841065721, -0.6984842944707643 ], [ -0.7477439901144608, -0.6639871423813154 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.6644543316373123, 0.7473288708248951 ] ] }, { "task_id": "0003716", "id": "RH20T_cfg7_task_0038_user_0014_scene_0005_cfg_0007_104122064161#100", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003716/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8955619035350839, -0.444936935909593 ], [ -0.25569876635066807, -0.9667565054794028 ], [ 0.3939192985274435, 0.9191450298973682 ], [ -0.9693794333872945, 0.24556773836505455 ] ] }, { "task_id": "0003717", "id": "RH20T_cfg4_task_0032_user_0016_scene_0009_cfg_0004_104122062823#120", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the lid of the gift box to close the gift box', and now you are performing subtask 'push the lid of the gift box to close 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003717/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9869498294667041, -0.16102805381561225 ], [ -0.12525632215133364, -0.9921244144567362 ], [ 0.029399051601028434, 0.9995677544349667 ], [ -0.9852961362381124, 0.17085527183627355 ] ] }, { "task_id": "0003718", "id": "RH20T_cfg4_task_0070_user_0007_scene_0004_cfg_0004_104122062823#158", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'slide the sliding window outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003718/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3003440035642613, -0.9538309491324923 ], [ -0.984101103898964, -0.17760917010346192 ], [ -0.13688677040813707, 0.9905867009440567 ], [ 0.9805806756668819, 0.19611613513337636 ] ] }, { "task_id": "0003719", "id": "RH20T_cfg4_task_0074_user_0015_scene_0008_cfg_0004_104122062823#111", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003719/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05219487181977303, 0.9986369186825198 ], [ 0.9990754387804424, -0.04299148317593273 ], [ -0.23826401588183097, -0.9712004215072513 ], [ -0.9863939237510627, 0.1643989872918438 ] ] }, { "task_id": "0003720", "id": "RH20T_cfg3_task_0035_user_0010_scene_0003_cfg_0003_038522062288#162", "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 square block from the patterned fabric'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003720/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999996666666, 0.0 ], [ 0.01890803429602927, -0.9998212271396623 ], [ -0.9990513565817755, 0.043547524753012906 ], [ -0.03933403146271046, 0.9992261175374123 ] ] }, { "task_id": "0003721", "id": "RH20T_cfg6_task_0124_user_0020_scene_0007_cfg_0006_104122064161#105", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003721/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135954499579, -0.8944271908999158 ], [ -0.9184171788484903, -0.39561330310794685 ], [ -0.5651629685096056, 0.824979283997732 ], [ 0.9223220434479031, 0.3864221113886787 ] ] }, { "task_id": "0003722", "id": "RH20T_cfg5_task_0011_user_0007_scene_0006_cfg_0005_104122063678#274", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'water the plant', and now you are performing subtask 'pick up the red watering can from the left side 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003722/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9121652242385933, -0.4098226490687854 ], [ -0.29948895717154544, -0.9540997665508049 ], [ -0.9835425474384752, 0.1806766652842441 ], [ 0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0003723", "id": "RH20T_cfg4_task_0073_user_0007_scene_0007_cfg_0004_104122062823#164", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003723/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1961161350997225, 0.9805806754986125 ], [ 0.9394358797798654, 0.342724711367929 ], [ 0.26318306953491355, -0.9647459105433829 ], [ -0.968978035118122, -0.24714685403343417 ] ] }, { "task_id": "0003724", "id": "RH20T_cfg4_task_0200_user_0010_scene_0006_cfg_0004_104122062823#207", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'Insert the tip of a large pipette into the holder for large pipette tips', and now you are performing subtask 'pick up the pipette 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003724/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ 0.1299070395637381, 0.9915261777037384 ], [ 0.999436932484977, -0.033553211247500596 ], [ 0.011137761398011608, -0.9999379732118593 ] ] }, { "task_id": "0003725", "id": "RH20T_cfg3_task_0059_user_0010_scene_0010_cfg_0003_104122062823#167", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'press the knob on the speaker to increase the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003725/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.03243062558795772, -0.9994739889181578 ], [ 0.9999999995, 0.0 ], [ -0.9880722043963336, 0.15399129488178892 ], [ -0.11609953979097686, 0.9932375832902838 ] ] }, { "task_id": "0003726", "id": "RH20T_cfg4_task_0062_user_0007_scene_0008_cfg_0004_104122062823#159", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003726/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.794559600946966, 0.6071861662974531 ], [ -0.7071067810615475, -0.7071067810615475 ], [ 0.6142700952366439, 0.7890958434169861 ], [ 0.6717861812786927, -0.7407451158414691 ] ] }, { "task_id": "0003727", "id": "RH20T_cfg3_task_0015_user_0011_scene_0007_cfg_0003_104122062823#270", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003727/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9901308873534932, 0.14014573096810462 ], [ -0.005206341781107832, -0.999986446910786 ], [ 0.0, 0.99999999975 ], [ -0.994266492198685, 0.10693054984859246 ] ] }, { "task_id": "0003728", "id": "RH20T_cfg2_task_0017_user_0003_scene_0003_cfg_0002_037522062165#190", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003728/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7923814661527057, 0.6100259110051707 ], [ -0.7071067810198809, 0.7071067810198809 ], [ 0.7644789157782756, -0.6446487317372711 ], [ -0.7523923718119871, -0.6587152031334427 ] ] }, { "task_id": "0003729", "id": "RH20T_cfg7_task_0048_user_0020_scene_0010_cfg_0007_104122064161#181", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'rotate the steering wheel 90 degrees clockwise', and now you are performing subtask 'twist the steering wheel clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003729/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.05558175132874733, -0.9984541396174536 ], [ -0.9940925090955316, -0.10853609243081458 ], [ 0.1074053191869134, 0.9942153174289547 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003730", "id": "RH20T_cfg6_task_0051_user_0014_scene_0004_cfg_0006_104122064161#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the dish off the dish rack', and now you are performing subtask 'take the plate off the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003730/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2807903984922229, 0.9597691139615708 ], [ -0.9486832977505137, 0.31622776591683793 ], [ 0.9606645086867849, -0.27771154414171967 ], [ -0.30113622342726076, -0.9535811318078641 ] ] }, { "task_id": "0003731", "id": "RH20T_cfg2_task_0026_user_0003_scene_0007_cfg_0002_037522062165#242", "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's handle, close 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003731/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9223325127693126, -0.38639712199839943 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.17657204713504968, -0.9842877181853575 ], [ -0.9762095763639801, 0.2168291101657215 ] ] }, { "task_id": "0003732", "id": "RH20T_cfg6_task_0084_user_0007_scene_0004_cfg_0006_104122064161#141", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003732/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8946428496579443, 0.44678201794153827 ], [ 0.5156297051834258, -0.856811535363789 ], [ -0.9019712267430696, -0.4317961395468957 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0003733", "id": "RH20T_cfg5_task_0001_user_0010_scene_0002_cfg_0005_104122063678#259", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the red button on the yellow base on the black tablecloth', and now you are performing subtask 'press the red button on the yellow base on the black tablecloth'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003733/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9951752474272904, -0.09811333705481305 ], [ -0.0011782030713129096, -0.9999993059185206 ], [ -0.9938739667358288, 0.11051940211921484 ] ] }, { "task_id": "0003734", "id": "RH20T_cfg6_task_0073_user_0020_scene_0008_cfg_0006_104122064161#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pull the handle of the drawer to open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003734/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, -0.8944271905999158 ], [ -0.9300818689868658, -0.36735230635168004 ], [ -0.3428439565264803, 0.9393923682217505 ], [ 0.8280017412116486, 0.5607255269296005 ] ] }, { "task_id": "0003735", "id": "RH20T_cfg6_task_0073_user_0020_scene_0008_cfg_0006_104122064161#267", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the things in the drawer', and now you are performing subtask 'pull the handle of the drawer to open'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003735/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.06379358651323049, 0.9979631147090452 ], [ -0.9999999989999999, 0.0 ], [ 0.9949259860719195, -0.10060955341725077 ], [ 0.09789778308362777, -0.9951964751079613 ] ] }, { "task_id": "0003736", "id": "RH20T_cfg7_task_0015_user_0014_scene_0007_cfg_0007_104122064161#88", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003736/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.840621000230896, 0.5416237937635384 ], [ 0.5479102963630654, -0.8365370925065654 ], [ -0.9040782202082973, -0.427367022294652 ], [ -0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0003737", "id": "RH20T_cfg3_task_0063_user_0010_scene_0001_cfg_0003_104122062823#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the shovel and move to the tissue bag above', and now you are performing subtask 'push the shovel with the blade facing right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003737/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7678093594706794, -0.6406783807100291 ], [ -0.6757130172888544, 0.7371647836585742 ], [ 0.6332377902349855, -0.7739572991760933 ], [ 0.6750147153523527, 0.7378042654104017 ] ] }, { "task_id": "0003738", "id": "RH20T_cfg5_task_0089_user_0007_scene_0004_cfg_0005_104122063678#311", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block around the golden piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003738/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.10400249942367627, -0.994577035786383 ], [ -0.988828631465428, 0.1490568267279592 ], [ 0.9999999989999999, 0.0 ], [ 0.06021611012858198, 0.998185363587837 ] ] }, { "task_id": "0003739", "id": "RH20T_cfg4_task_0103_user_0014_scene_0018_cfg_0004_104122062823#120", "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 'press the plate to fix it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003739/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7969251762534342, 0.6040780276201353 ], [ -0.5144957553834089, 0.8574929256390147 ], [ 0.6091315598589022, -0.7930691916748883 ], [ -0.9200251776897679, -0.39185925077368167 ] ] }, { "task_id": "0003740", "id": "RH20T_cfg6_task_0015_user_0014_scene_0006_cfg_0006_104122064161#58", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003740/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9923411632572425, 0.1235273884823235 ], [ 0.24822908112995876, -0.9687013591821664 ], [ -0.17888543818398317, 0.9838699100119074 ], [ -0.9592276081659844, -0.28263473907530323 ] ] }, { "task_id": "0003741", "id": "RH20T_cfg3_task_0029_user_0011_scene_0006_cfg_0003_104122062823#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 handle of the drawer outward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003741/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6632457967173797, 0.7484016389190554 ], [ 0.8069826176236141, 0.5905751898389738 ], [ -0.7071067809365474, -0.7071067809365474 ], [ 0.6136799424350355, -0.7895548924887563 ] ] }, { "task_id": "0003742", "id": "RH20T_cfg6_task_0032_user_0014_scene_0002_cfg_0006_104122064161#68", "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 to the gift 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003742/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7610823333049396, -0.6486552874455808 ], [ -0.663811718067562, -0.7478997278754631 ], [ -0.7356233801802278, 0.6773907605896438 ], [ 0.554700196071383, 0.8320502941070744 ] ] }, { "task_id": "0003743", "id": "RH20T_cfg7_task_0033_user_0014_scene_0001_cfg_0007_104122064161#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the block to the marked point', and now you are performing subtask 'pick up the block from the top of the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003743/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.99999999975 ], [ 0.9998390463720486, 0.017941052082657814 ], [ -0.07040803829338346, -0.9975182745913368 ], [ -0.9877706692625707, 0.15591377406942944 ] ] }, { "task_id": "0003745", "id": "RH20T_cfg7_task_0002_user_0014_scene_0009_cfg_0007_104122064161#102", "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 napkin pack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003745/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, -0.7071067806865474 ], [ -0.7187266730447649, -0.6952927221350759 ], [ -0.6586593443602533, 0.7524412721846944 ], [ 0.802262600691545, 0.5969712886995812 ] ] }, { "task_id": "0003746", "id": "RH20T_cfg7_task_0008_user_0014_scene_0009_cfg_0007_104122064161#104", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003746/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.673384868570823, -0.7392921065315491 ], [ -0.6609529616361213, -0.750427333260483 ], [ -0.7114527247478679, 0.7027339613600829 ], [ 0.7071067811032142, 0.7071067811032142 ] ] }, { "task_id": "0003747", "id": "RH20T_cfg6_task_0105_user_0014_scene_0004_cfg_0006_104122064161#63", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the rectangular block', and now you are performing subtask 'pick up the rectangular 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003747/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9971051813661912, 0.07603457958517996 ], [ 0.15650394705598297, -0.9876773332196594 ], [ -0.20952908871623932, 0.9778024140091168 ], [ -0.9509061432203331, -0.3094794125395604 ] ] }, { "task_id": "0003748", "id": "RH20T_cfg4_task_0024_user_0014_scene_0002_cfg_0004_038522062288#111", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003748/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.29342298929334304, -0.9559827139410831 ], [ 0.9761870600780704, 0.21693045779512676 ], [ -0.9977668186310485, -0.06679352991777188 ], [ -0.31039874230478187, 0.9506064489448879 ] ] }, { "task_id": "0003749", "id": "RH20T_cfg4_task_0023_user_0014_scene_0007_cfg_0004_038522062288#126", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button of the power strip', and now you are performing subtask 'press the button on the power strip'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003749/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271907999158, 0.4472135953999579 ], [ 0.5621763255910638, -0.8270173994209132 ], [ -0.9274446522613023, -0.37396044843260096 ], [ -0.5609568497621327, 0.8278450414811604 ] ] }, { "task_id": "0003750", "id": "RH20T_cfg4_task_0038_user_0014_scene_0002_cfg_0004_104122062823#67", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003750/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9714445283844143, 0.23726678712365754 ], [ -0.13216372008883456, 0.9912279006662591 ], [ 0.24142013339791313, -0.9704206918600478 ], [ -0.967756691546144, -0.25188685151802087 ] ] }, { "task_id": "0003751", "id": "RH20T_cfg5_task_0118_user_0010_scene_0003_cfg_0005_104122063678#243", "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 turn on the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003751/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.35585277969625473, 0.9345420264399289 ], [ 0.894039191493597, -0.44798875440514735 ], [ -0.3246010714232757, -0.9458510159802449 ], [ -0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0003752", "id": "RH20T_cfg4_task_0072_user_0007_scene_0005_cfg_0004_104122062823#200", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop a coin into a piggy bank', and now you are performing subtask 'pick up the coin from the left side of the piggy bank'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003752/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7803292010487686, -0.6253689614864096 ], [ -0.7259645159738113, -0.6877321582905005 ], [ -0.6534438320967163, 0.756975005066058 ], [ 0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003753", "id": "RH20T_cfg4_task_0110_user_0007_scene_0008_cfg_0004_104122062823#111", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003753/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.780701684515335, -0.6249038964472204 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.689783948421235, -0.7240152653780245 ], [ -0.6960741538297799, 0.7179698965626317 ] ] }, { "task_id": "0003755", "id": "RH20T_cfg5_task_0059_user_0007_scene_0005_cfg_0005_104122063678#291", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003755/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9891314683116101, -0.1470338001811771 ], [ -0.024599877075918663, 0.9996973772336555 ], [ 0.0, -0.9999999989999999 ], [ 0.9998095029366283, 0.01951814124378229 ] ] }, { "task_id": "0003756", "id": "RH20T_cfg4_task_0007_user_0010_scene_0006_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the small block to the left', and now you are performing subtask 'slide a small block on the table to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003756/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9086981352715047, 0.41745382852968344 ], [ -0.48860336891479084, 0.8725060159192694 ], [ 0.546062474965993, -0.837744455925561 ], [ -0.8530791496000879, -0.5217815294906395 ] ] }, { "task_id": "0003757", "id": "RH20T_cfg7_task_0039_user_0020_scene_0001_cfg_0007_104122064161#296", "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 filled with water from the left side'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003757/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9971648237540869, -0.07524835059641506 ], [ 0.06124990680476201, -0.9981224618835146 ], [ 0.0, 0.9999999989999999 ], [ -0.9946511472185857, 0.10329131297815575 ] ] }, { "task_id": "0003758", "id": "RH20T_cfg4_task_0080_user_0007_scene_0008_cfg_0004_104122062823#161", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003758/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9993511275024693, -0.036018383633130285 ], [ 0.0, 0.9999999998571428 ], [ -0.05383162820596467, -0.9985500266910491 ], [ -0.9995783393475998, -0.02903693350019151 ] ] }, { "task_id": "0003759", "id": "RH20T_cfg6_task_0029_user_0014_scene_0001_cfg_0006_104122064161#102", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003759/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9955895947021274, -0.093815557989354 ], [ 0.028852978155527436, -0.9995836661588448 ], [ -0.9998845981672478, -0.015191785540922815 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0003760", "id": "RH20T_cfg4_task_0124_user_0007_scene_0005_cfg_0004_104122062823#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push down the lever', and now you are performing subtask 'press the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003760/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8959669593420657, -0.4441207130582103 ], [ -0.5082086435829977, 0.8612339836464478 ], [ 0.8416483114902714, 0.5400260361923073 ], [ 0.48564293113146223, -0.8741572760366321 ] ] }, { "task_id": "0003761", "id": "RH20T_cfg7_task_0061_user_0014_scene_0003_cfg_0007_104122064161#94", "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 item in the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003761/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3392411195297739, 0.9406994540341701 ], [ 0.9773355103841926, -0.21169624498811918 ], [ -0.9486832977505137, 0.31622776591683793 ], [ -0.31644352674205695, -0.9486113505451266 ] ] }, { "task_id": "0003762", "id": "RH20T_cfg7_task_0061_user_0014_scene_0003_cfg_0007_104122064161#207", "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 item 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003762/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9385917209754732, 0.3450298267053146 ], [ 0.4145121561531611, -0.9100437749917625 ], [ -0.9304896691039733, -0.3663181345371508 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0003763", "id": "RH20T_cfg4_task_0059_user_0016_scene_0008_cfg_0004_104122062823#139", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn the knob to increase the volume of the speaker', and now you are performing subtask 'twist the knob 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003763/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6383038991045477, -0.7697844713865898 ], [ 0.7071067809365474, 0.7071067809365474 ], [ -0.720713068833129, -0.6932334905449486 ], [ -0.7758878253856849, 0.6308708920359799 ] ] }, { "task_id": "0003764", "id": "RH20T_cfg5_task_0010_user_0007_scene_0008_cfg_0005_104122063678#240", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003764/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9974551302070797, 0.07129700711515063 ], [ 0.04966148944836273, 0.9987661069869013 ], [ 0.995780498400557, -0.09176709107919993 ], [ 0.0, -0.9999999995 ] ] }, { "task_id": "0003765", "id": "RH20T_cfg3_task_0071_user_0010_scene_0010_cfg_0003_104122062823#199", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'close a sliding window', and now you are performing subtask 'pull the sliding window handle to the indoor'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003765/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999995, 0.0 ], [ -0.1442372129355654, 0.9895431402443151 ], [ 0.9960416538375599, 0.0888877034270679 ], [ -0.05547372883626886, -0.9984601471310711 ] ] }, { "task_id": "0003766", "id": "RH20T_cfg2_task_0015_user_0003_scene_0002_cfg_0002_037522062165#179", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the drumstick on the drum'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003766/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.26241486095678535, 0.9649551496049084 ], [ 0.9810080273735842, -0.19396713698095633 ], [ -0.4091624426946963, -0.9124615583618355 ], [ -0.9615239475747854, 0.2747211278785101 ] ] }, { "task_id": "0003767", "id": "RH20T_cfg6_task_0092_user_0020_scene_0001_cfg_0006_104122064161#134", "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 the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003767/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6760815658892577, 0.7368267885091647 ], [ 0.8649815540977666, -0.5018036578888325 ], [ -0.7808688093210792, 0.6246950474568633 ], [ -0.5773933724086387, -0.8164661006426286 ] ] }, { "task_id": "0003768", "id": "RH20T_cfg2_task_0052_user_0016_scene_0007_cfg_0002_105422061350#293", "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 on the green 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003768/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2283777586284083, -0.9735725958365223 ], [ -0.9027988644970756, 0.4300630305696956 ], [ 0.9486832977505137, -0.31622776591683793 ], [ 0.1967749620708731, 0.9804486800960092 ] ] }, { "task_id": "0003769", "id": "RH20T_cfg6_task_0008_user_0014_scene_0009_cfg_0006_104122064161#51", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003769/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9914896328533194, -0.13018566720031058 ], [ 0.0, 0.9999999989999999 ], [ 0.005305663191961967, -0.999985924869992 ], [ -0.9920899005099123, -0.12552939618365255 ] ] }, { "task_id": "0003770", "id": "RH20T_cfg6_task_0090_user_0020_scene_0007_cfg_0006_104122064161#90", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the cup to the right', and now you are performing subtask 'push the cup to the middle of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003770/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6126313820092308, -0.7903687682199112 ], [ 0.8320502941070744, 0.554700196071383 ], [ -0.750895685997662, -0.6604208270111571 ], [ -0.590696005204286, 0.8068941872610672 ] ] }, { "task_id": "0003771", "id": "RH20T_cfg4_task_0015_user_0016_scene_0006_cfg_0004_104122062823#119", "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 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003771/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5063492332233235, 0.8623285070169908 ], [ 0.9525543000555552, -0.3043686998455516 ], [ -0.9284766907128456, 0.3713906762851382 ], [ -0.38360586809093034, -0.9234969073939575 ] ] }, { "task_id": "0003772", "id": "RH20T_cfg4_task_0088_user_0007_scene_0002_cfg_0004_104122062823#81", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the cube 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003772/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7375319503681192, -0.6753122405126373 ], [ 0.6782801026947272, 0.7348034445859544 ], [ -0.7078033610140263, -0.7064095144724822 ], [ -0.6535430151041629, 0.7568893759384921 ] ] }, { "task_id": "0003773", "id": "RH20T_cfg4_task_0035_user_0017_scene_0004_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a block', and now you are performing subtask 'pick up the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003773/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.05547001961944599, 0.9984603531500278 ], [ 0.9999713388111191, -0.007571100071865261 ], [ 0.0477571238078938, -0.9988589775967364 ], [ -0.9982880746011277, 0.05848863230725658 ] ] }, { "task_id": "0003774", "id": "RH20T_cfg4_task_0032_user_0016_scene_0004_cfg_0004_104122062823#109", "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 to the position covering 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003774/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.21693045780689146, 0.9761870601310116 ], [ 0.9955941771687064, -0.0937669152087594 ], [ -0.2337075019129796, -0.9723069492447304 ], [ -0.9918570792219407, 0.12735593585428567 ] ] }, { "task_id": "0003775", "id": "RH20T_cfg3_task_0045_user_0010_scene_0007_cfg_0003_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'place the brush on the pen rack', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003775/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9978799814467763, -0.06508104660945109 ], [ 0.14694453578144903, -0.9891447332943619 ], [ -0.9796183150752399, -0.20086800832673202 ], [ -0.06651901051934915, 0.9977851577902372 ] ] }, { "task_id": "0003776", "id": "RH20T_cfg4_task_0102_user_0014_scene_0020_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003776/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7908414546453537, 0.6120210728515979 ], [ 0.6226231043740986, -0.782521865445024 ], [ -0.5299989399470002, 0.8479983039152004 ], [ -0.7670930670218921, -0.6415358341721428 ] ] }, { "task_id": "0003778", "id": "RH20T_cfg4_task_0070_user_0007_scene_0009_cfg_0004_104122062823#125", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003778/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5812381936515288, 0.8137334711121403 ], [ 0.8139105697019291, -0.5809901759302657 ], [ -0.5340957018775339, -0.8454240245202076 ], [ -0.8286577082461842, 0.5597556632712007 ] ] }, { "task_id": "0003779", "id": "RH20T_cfg4_task_0125_user_0007_scene_0010_cfg_0004_104122062823#116", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull up the lever upward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003779/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9664057698185182, -0.2570211821260598 ], [ -0.21366428757193406, -0.9769071461589264 ], [ 0.17888543818398317, 0.9838699100119074 ], [ -0.9500052378135201, 0.31223396376255624 ] ] }, { "task_id": "0003780", "id": "RH20T_cfg2_task_0035_user_0007_scene_0002_cfg_0002_037522062165#289", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a small block', and now you are performing subtask 'pick up the cube 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003780/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, -0.8944271905999158 ], [ -0.9216496387510876, -0.38802312223627816 ], [ -0.5010846709706098, 0.8653982623730393 ], [ 0.9413293337563919, 0.3374893856253071 ] ] }, { "task_id": "0003781", "id": "RH20T_cfg3_task_0032_user_0010_scene_0007_cfg_0003_104122062823#165", "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 next to the gift 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003781/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8011546367323745, -0.598457390331356 ], [ -0.6813124021398295, -0.7319927668293282 ], [ -0.7983936467946838, 0.6021358524103059 ], [ 0.6401843996234963, 0.7682212795481955 ] ] }, { "task_id": "0003782", "id": "RH20T_cfg6_task_0026_user_0014_scene_0008_cfg_0006_104122064161#47", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003782/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999996666666, 0.0 ], [ -0.029946182303683556, 0.9995515125122039 ], [ 0.9891767928340195, 0.14672856749318894 ], [ -0.029123117046291763, -0.9995758320675365 ] ] }, { "task_id": "0003783", "id": "RH20T_cfg2_task_0007_user_0013_scene_0002_cfg_0002_105422061350#289", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hold a small block with the gripper and sweep it from left to right on the table', and now you are performing subtask 'pick up the small 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003783/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9929255494056037, 0.1187385924524125 ], [ 0.0, 0.9999999998 ], [ -0.13809746969657594, -0.990418643232953 ], [ -0.9932346362727636, -0.11612474890440438 ] ] }, { "task_id": "0003784", "id": "RH20T_cfg2_task_0094_user_0007_scene_0002_cfg_0002_037522062165#104", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the lid of the box to open the 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003784/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1961161350997225, 0.9805806754986125 ], [ 0.9473339663795226, -0.32024733588843723 ], [ -0.17644781773727808, -0.9843099956902562 ], [ -0.9871274819029963, 0.15993540718630722 ] ] }, { "task_id": "0003785", "id": "RH20T_cfg3_task_0016_user_0011_scene_0009_cfg_0003_104122062823#155", "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 side of the pool 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003785/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9121022681324337, -0.40996274521920917 ], [ -0.16589450645770956, -0.9861435051386552 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9008404225288574, 0.43415035775411925 ] ] }, { "task_id": "0003786", "id": "RH20T_cfg2_task_0009_user_0013_scene_0004_cfg_0002_105422061350#322", "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 green Hanoi block from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003786/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09263830940115524, -0.995699826067724 ], [ 0.9999999996666666, 0.0 ], [ -0.999328760556703, -0.0366337047567368 ], [ -0.12694987888414194, 0.9919091330617446 ] ] }, { "task_id": "0003787", "id": "RH20T_cfg2_task_0035_user_0007_scene_0004_cfg_0002_037522062165#206", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003787/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09915496405228326, 0.9950720039795062 ], [ 0.99605715165765, 0.08871386944356142 ], [ 0.07497673201683304, -0.9971852835135886 ], [ -0.9999999995, 0.0 ] ] }, { "task_id": "0003788", "id": "RH20T_cfg7_task_0004_user_0014_scene_0005_cfg_0007_104122064161#80", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block from the right side of the desk and place it on the large block on the left', and now you are performing subtask 'pick up the block on the right side 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003788/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9807273002509233, 0.19538158189178353 ], [ 0.14387745290483006, -0.9895955125937155 ], [ -0.21693045780689146, 0.9761870601310116 ], [ -0.9961188856595682, -0.0880179847096045 ] ] }, { "task_id": "0003790", "id": "RH20T_cfg4_task_0128_user_0007_scene_0005_cfg_0004_104122062823#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the usb drive to the docking station', and now you are performing subtask 'pick up the USB drive on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003790/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135952999579, -0.8944271905999158 ], [ -0.9327449345423664, 0.3605369427472816 ], [ 0.3910617777219408, 0.9203644310842067 ], [ 0.9366990942188061, -0.35013541221885613 ] ] }, { "task_id": "0003791", "id": "RH20T_cfg5_task_0067_user_0007_scene_0008_cfg_0005_104122063678#217", "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 a button on the red button 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003791/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7822972666807487, 0.622905278950042 ], [ -0.554700196071383, 0.8320502941070744 ], [ 0.6633153718539233, -0.7483399745184616 ], [ -0.8878655655238885, -0.46010296408189516 ] ] }, { "task_id": "0003792", "id": "RH20T_cfg4_task_0076_user_0007_scene_0008_cfg_0004_104122062823#160", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) one on top of the other every time', and now you are performing subtask 'pick up the small Lego brick from the edge of the board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003792/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2425356250069212, -0.9701425000276848 ], [ -0.9724165504235808, -0.23325105029196228 ], [ -0.3401597244243615, 0.9403676737742225 ], [ 0.9359297757057669, 0.3521866762774439 ] ] }, { "task_id": "0003793", "id": "RH20T_cfg2_task_0013_user_0003_scene_0008_cfg_0002_037522062165#186", "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 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003793/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9968009250921818, 0.0799244376606481 ], [ -0.16439898727833027, 0.9863939236699816 ], [ 0.0711681422815471, -0.9974643329584238 ], [ -0.9679481767526255, -0.2511500092002149 ] ] }, { "task_id": "0003794", "id": "RH20T_cfg5_task_0096_user_0007_scene_0006_cfg_0005_104122063678#213", "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 the outside of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003794/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9987057538901447, 0.050860762348962175 ], [ -0.036663625380216745, -0.9993276632686494 ], [ -0.9968261696780943, -0.07960896585749205 ] ] }, { "task_id": "0003795", "id": "RH20T_cfg5_task_0096_user_0007_scene_0006_cfg_0005_104122063678#446", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003795/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9986063122770192, 0.05277720227989096 ], [ 0.09245537535591493, -0.995716829007021 ], [ 0.0, 0.9999999989999999 ], [ -0.9939633737028545, 0.10971240466437565 ] ] }, { "task_id": "0003796", "id": "RH20T_cfg4_task_0074_user_0007_scene_0003_cfg_0004_104122062823#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003796/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4741471660497029, 0.8804456058877433 ], [ 0.8549093091163446, 0.5187774794516572 ], [ -0.8320502942609206, -0.5547001961739471 ], [ 0.5393488711178362, -0.8420824159332124 ] ] }, { "task_id": "0003797", "id": "RH20T_cfg5_task_0041_user_0007_scene_0009_cfg_0005_104122063678#281", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003797/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9927079693633281, -0.12054413118247516 ], [ 0.1503733911063596, 0.9886292749292699 ], [ 0.9944161642016874, 0.10552958056584269 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0003798", "id": "RH20T_cfg5_task_0004_user_0020_scene_0007_cfg_0005_104122063678#538", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003798/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.0551011956907887, 0.9984807750945661 ], [ 0.9898248182559909, 0.1422913530910944 ], [ -0.13958754127196157, -0.9902097345116582 ] ] }, { "task_id": "0003799", "id": "RH20T_cfg2_task_0032_user_0003_scene_0010_cfg_0002_037522062165#127", "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 into the gift box'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003799/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7529928499612892, -0.6580286983917765 ], [ 0.7071067811151189, -0.7071067811151189 ], [ -0.6016823639389597, 0.7987354586625194 ], [ 0.7252675692307414, 0.6884671038053538 ] ] }, { "task_id": "0003800", "id": "RH20T_cfg3_task_0044_user_0010_scene_0004_cfg_0003_104122062823#142", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003800/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.961523947596798, -0.2747211278847994 ], [ -0.40056026073750617, 0.916270417244768 ], [ 0.9696593765246296, 0.24446000392265915 ], [ 0.18285390466101487, -0.9831400966038465 ] ] }, { "task_id": "0003801", "id": "RH20T_cfg4_task_0009_user_0016_scene_0006_cfg_0004_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the orange Hanoi block off the shelf and place it on the table', and now you are performing subtask 'pick up the orange Hanoi block from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003801/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9757881888876895, 0.21871765001316884 ], [ 0.29721487205652464, -0.9548106198762264 ], [ -0.9482284091538999, -0.3175891749941491 ], [ -0.1961161350997225, 0.9805806754986125 ] ] }, { "task_id": "0003802", "id": "RH20T_cfg4_task_0068_user_0007_scene_0003_cfg_0004_104122062823#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press a button horizontally with obstacles', and now you are performing subtask 'press the green button horizontally around the obstacles'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003802/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9758867183829656, 0.21827760508977218 ], [ 0.09002262654898904, -0.9959397204194747 ], [ -0.21369687879890853, 0.9769000173664389 ], [ -0.9707378728499432, -0.24014158784926812 ] ] }, { "task_id": "0003803", "id": "RH20T_cfg6_task_0088_user_0020_scene_0007_cfg_0006_104122064161#113", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'transfer the wooden block to the surface behind the golden pig', and now you are performing subtask 'pick up the small wooden 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003803/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9513587649768583, 0.30808521597393607 ], [ 0.5556701553676524, -0.831402837638704 ], [ -0.9461938781749146, -0.3236002856987534 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003804", "id": "RH20T_cfg4_task_0112_user_0014_scene_0001_cfg_0004_038522062288#270", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the charger to the socket', and now you are performing subtask 'pick up the charger 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003804/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.554700196148306, 0.8320502942224591 ], [ 0.8165616909338989, -0.577258178720035 ], [ -0.5258328960193198, -0.8505878940262054 ], [ -0.8771720151238594, 0.4801762758441402 ] ] }, { "task_id": "0003805", "id": "RH20T_cfg5_task_0001_user_0010_scene_0009_cfg_0005_104122063678#338", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003805/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5229598937168695, -0.8523572898518793 ], [ 0.8944271905999158, 0.4472135952999579 ], [ -0.9053861515841348, -0.4245891149330962 ], [ -0.5652270084783737, 0.8249354089179277 ] ] }, { "task_id": "0003806", "id": "RH20T_cfg4_task_0088_user_0015_scene_0008_cfg_0004_104122062823#109", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the wooden block from the right side of the box to the left side of the box', and now you are performing subtask 'pick up the wooden block on the right side of the 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003806/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.32404793349703076, 0.9460406633947105 ], [ -0.8944271907999158, 0.4472135953999579 ], [ 0.8837815667199397, -0.46789971396234986 ], [ -0.4748389909617966, -0.8800726860108674 ] ] }, { "task_id": "0003807", "id": "RH20T_cfg3_task_0020_user_0011_scene_0002_cfg_0003_104122062823#127", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003807/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4061384660328291, 0.9138115485738655 ], [ 0.9478207651101764, -0.3188036970079861 ], [ -0.3933348550718409, -0.9193952859274481 ], [ -0.9427575364351014, 0.3334789760911752 ] ] }, { "task_id": "0003808", "id": "RH20T_cfg3_task_0064_user_0010_scene_0009_cfg_0003_104122062823#238", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003808/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11550031885511924, -0.9933074430126686 ], [ -0.9775764667559533, -0.21058074851454625 ], [ 0.9805806755947664, 0.19611613511895326 ], [ -0.20928661313760097, 0.9778543416896978 ] ] }, { "task_id": "0003809", "id": "RH20T_cfg4_task_0118_user_0007_scene_0004_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn on the water tap', and now you are performing subtask 'turn the handle of the water tap clockwise to turn on the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003809/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.998984101242769, -0.045064015180374346 ], [ 0.0, 0.9999999999 ], [ 0.0715580443532132, -0.9974364372171008 ], [ -0.9999990019404275, -0.001412840454197878 ] ] }, { "task_id": "0003811", "id": "RH20T_cfg2_task_0064_user_0007_scene_0009_cfg_0002_105422061350#173", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003811/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7388379898701238, 0.6738830942564702 ], [ 0.7244188179946258, 0.6893601207897576 ], [ -0.7071067806865474, -0.7071067806865474 ], [ 0.6501535357767213, -0.7598028559547717 ] ] }, { "task_id": "0003812", "id": "RH20T_cfg6_task_0022_user_0014_scene_0008_cfg_0006_104122064161#31", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003812/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9884185283035009, 0.15175247248839605 ], [ 0.02503005090274263, -0.9996866991972067 ], [ -0.9828157516037352, -0.18458926945948173 ], [ -0.12105437530810895, 0.9926458775264934 ] ] }, { "task_id": "0003813", "id": "RH20T_cfg6_task_0046_user_0014_scene_0007_cfg_0006_104122064161#170", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003813/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999090909 ], [ 0.9897682321055392, 0.14268443052651342 ], [ 0.1201236911929277, -0.9927589328805791 ], [ -0.999967886408754, -0.008014121986182364 ] ] }, { "task_id": "0003814", "id": "RH20T_cfg2_task_0014_user_0003_scene_0001_cfg_0002_037522062165#150", "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 container 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003814/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8654647629364727, -0.5009698035963 ], [ -0.4147027484748895, -0.909956938765441 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9343976670412811, 0.3562316659532264 ] ] }, { "task_id": "0003815", "id": "RH20T_cfg4_task_0070_user_0007_scene_0005_cfg_0004_104122062823#130", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'push the sliding window 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003815/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6053931513722048, 0.795926587237561 ], [ 0.8724084401134657, 0.4887775706993822 ], [ -0.808736084243729, -0.5881716976318029 ], [ 0.6920482998356173, -0.7218511970583905 ] ] }, { "task_id": "0003816", "id": "RH20T_cfg2_task_0035_user_0007_scene_0008_cfg_0002_037522062165#214", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003816/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9995190573406829, 0.031010546799315374 ], [ 0.004893379474093896, -0.9999880273469891 ], [ -0.9944795891544428, 0.10493019944329966 ] ] }, { "task_id": "0003817", "id": "RH20T_cfg7_task_0036_user_0020_scene_0002_cfg_0007_104122064161#115", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'shake the test tube', and now you are performing subtask 'pick up the test tube holder from the stand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003817/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8035811401725125, -0.5951952210485605 ], [ -0.6509192350860715, -0.7591469880036169 ], [ -0.7917538963971757, 0.6108402144095381 ], [ 0.7071067811032142, 0.7071067811032142 ] ] }, { "task_id": "0003818", "id": "RH20T_cfg6_task_0107_user_0020_scene_0008_cfg_0006_104122064161#127", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003818/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9998068672387472, 0.019652689949265546 ], [ -0.0027067509426161127, -0.9999963367429576 ], [ -0.996735163228104, -0.08074041357737208 ], [ 0.0, 0.9999999996666666 ] ] }, { "task_id": "0003819", "id": "RH20T_cfg4_task_0038_user_0017_scene_0001_cfg_0004_104122062823#312", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the block forward', and now you are performing subtask 'pick up the block on 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003819/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5734623443163485, 0.8192319204519264 ], [ 0.8005320243556251, -0.5992899782084505 ], [ -0.5963962162863349, -0.8026901975228944 ], [ -0.871211608999525, 0.49090766172922856 ] ] }, { "task_id": "0003820", "id": "RH20T_cfg4_task_0086_user_0014_scene_0007_cfg_0004_104122062823#205", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the object 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003820/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7914435381941342, -0.6112422808107684 ], [ 0.5881716976318029, 0.808736084243729 ], [ -0.4797041301224172, -0.8774303092231855 ], [ -0.8849644932171219, 0.4656585076480002 ] ] }, { "task_id": "0003821", "id": "RH20T_cfg4_task_0110_user_0007_scene_0003_cfg_0004_104122062823#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the pencil out from the pencil sharpener and put it on the desk', and now you are performing subtask 'pick up the pencil from the pencil sharpener'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003821/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9015683532382615, 0.43263668873461203 ], [ 0.5273128088242983, -0.8496712315065335 ], [ -0.9162175291075922, -0.40068121912061 ], [ -0.41380294426693737, 0.9103664773872623 ] ] }, { "task_id": "0003822", "id": "RH20T_cfg6_task_0085_user_0007_scene_0001_cfg_0006_104122064161#157", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003822/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8326486915652026, 0.5538015496861274 ], [ 0.46210208910968936, -0.8868267357496957 ], [ -0.554700196148306, 0.8320502942224591 ], [ -0.7912876158017238, -0.6114441177072714 ] ] }, { "task_id": "0003823", "id": "RH20T_cfg4_task_0008_user_0010_scene_0005_cfg_0004_104122062823#103", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003823/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33756059851823444, 0.9413037991679474 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.9480027118047283, -0.31826224785682844 ], [ -0.47636923703074857, -0.8792453298202627 ] ] }, { "task_id": "0003824", "id": "RH20T_cfg4_task_0039_user_0010_scene_0001_cfg_0004_104122062823#92", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003824/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3162277659835046, 0.9486832979505138 ], [ 0.8911335578873949, -0.45374109578806404 ], [ -0.33820280016069415, -0.9410732521772498 ], [ -0.9334089354016646, 0.3588143800244513 ] ] }, { "task_id": "0003825", "id": "RH20T_cfg1_task_0005_user_0004_scene_0004_cfg_0001_039422060546#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slightly push the block to the right', and now you are performing subtask 'push the square slightly to the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003825/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.16439898727833027, 0.9863939236699816 ], [ 0.9581319524923679, -0.286327018657274 ], [ -0.11939031987996916, -0.9928473958866785 ], [ -0.9801398567806757, 0.19830749141158702 ] ] }, { "task_id": "0003826", "id": "RH20T_cfg4_task_0006_user_0010_scene_0009_cfg_0004_104122062823#116", "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 from the left 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003826/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3138043885811325, 0.9494876543205929 ], [ -0.9333456061360492, 0.35897907928309586 ], [ 0.9724520369807935, -0.23310305826373323 ], [ -0.4448926710164752, -0.8955838940466864 ] ] }, { "task_id": "0003827", "id": "RH20T_cfg6_task_0216_user_0014_scene_0010_cfg_0006_104122064161#112", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the cucumber into shreds', and now you are performing subtask 'pick up the knife from the shelf'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003827/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9879297216087112, 0.15490276034381864 ], [ 0.0, 0.999999999875 ], [ -0.035353852734953, -0.999374857146604 ], [ -0.9999047898087702, -0.013798960739104091 ] ] }, { "task_id": "0003828", "id": "RH20T_cfg4_task_0109_user_0015_scene_0001_cfg_0004_104122062823#426", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003828/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7721080271772891, 0.6354913015678456 ], [ 0.801736692764899, -0.5976774008396185 ], [ -0.7071067811032142, 0.7071067811032142 ], [ -0.7987282697894772, -0.6016919070746324 ] ] }, { "task_id": "0003830", "id": "RH20T_cfg7_task_0004_user_0014_scene_0009_cfg_0007_104122064161#98", "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 'slide the small square from the bottom to the top'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003830/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9969795296096812, 0.0776647766961241 ], [ 0.0, -0.9999999989999999 ], [ 0.06625870541606073, 0.9978024774255613 ], [ 0.9888661173091818, 0.1488079367435203 ] ] }, { "task_id": "0003831", "id": "RH20T_cfg6_task_0043_user_0014_scene_0003_cfg_0006_104122064161#143", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrew the lid from the bottle (requires twisting)', and now you are performing subtask 'twist the lid 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003831/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8838556415745958, 0.4677597725935395 ], [ 0.5748405482555279, -0.8182654484220168 ], [ -0.8634912379665776, -0.504363838865305 ], [ -0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003833", "id": "RH20T_cfg4_task_0014_user_0010_scene_0009_cfg_0004_104122062823#88", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003833/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9987074501276485, -0.05082744396023134 ], [ -0.16541638777946752, -0.9862238177280007 ], [ -0.9729109889355823, 0.23118003289295405 ], [ 0.16439898729634828, 0.9863939237780897 ] ] }, { "task_id": "0003835", "id": "RH20T_cfg6_task_0021_user_0014_scene_0010_cfg_0006_104122064161#41", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003835/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9984536377890607, 0.055590765292368324 ], [ 0.12855635877218158, -0.9917022046054139 ], [ -0.1046847845125633, 0.9945054528693513 ], [ -0.9997926650603891, -0.020362389138912942 ] ] }, { "task_id": "0003836", "id": "RH20T_cfg4_task_0101_user_0015_scene_0006_cfg_0004_104122062823#98", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003836/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9376813631764946, -0.3474962750181227 ], [ -0.39959788414779207, -0.9166905317415512 ], [ 0.41380294426693737, 0.9103664773872623 ], [ -0.8374795589119071, 0.5464686527191817 ] ] }, { "task_id": "0003837", "id": "RH20T_cfg6_task_0012_user_0014_scene_0004_cfg_0006_104122064161#50", "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 to the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003837/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4677247564308918, -0.8838741721657348 ], [ -0.823185241795371, -0.56777289270473 ], [ 0.7999999999840001, 0.599999999988 ], [ -0.48541245752892204, 0.8742852772840982 ] ] }, { "task_id": "0003839", "id": "RH20T_cfg7_task_0014_user_0014_scene_0008_cfg_0007_104122064161#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'remove the block from the scale and put it on the table', and now you are performing subtask 'pick up the block from the scale'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003839/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8625238562355638, 0.506016400351345 ], [ -0.59999999988, 0.79999999984 ], [ 0.653112254984063, -0.7572611058212566 ], [ -0.8584406115881363, -0.5129129715421384 ] ] }, { "task_id": "0003840", "id": "RH20T_cfg7_task_0008_user_0020_scene_0002_cfg_0007_104122064161#96", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003840/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999999166667 ], [ 0.9939747459492188, 0.10960932631480773 ], [ 0.048293182226354946, -0.9988332035682695 ], [ -0.9981084594975996, 0.06147766325527089 ] ] }, { "task_id": "0003841", "id": "RH20T_cfg4_task_0028_user_0016_scene_0003_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasp the handle and close the drawer', and now you are performing subtask 'push the drawer to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003841/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9795926886095617, -0.20099294620132863 ], [ -0.3705447805058362, -0.9288146024045281 ], [ 0.2425356250069212, 0.9701425000276848 ], [ -0.9913778232744794, 0.13103439059863253 ] ] }, { "task_id": "0003842", "id": "RH20T_cfg2_task_0042_user_0007_scene_0004_cfg_0002_037522062165#286", "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 'pick up the lid beside the jar'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003842/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.8602152596213212, -0.5099310807497647 ], [ 0.4472135952999579, -0.8944271905999158 ], [ -0.3707922600402025, 0.9287158337695546 ], [ 0.8957453181789272, 0.4445675707477239 ] ] }, { "task_id": "0003844", "id": "RH20T_cfg5_task_0015_user_0007_scene_0010_cfg_0005_104122063678#225", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003844/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7995147984008444, 0.6006463910971723 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.625963039919618, -0.7798527249773451 ], [ -0.6731450103311755, -0.7395105104501501 ] ] }, { "task_id": "0003847", "id": "RH20T_cfg6_task_0004_user_0014_scene_0002_cfg_0006_104122064161#50", "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 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003847/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3713906763478341, 0.9284766908695854 ], [ 0.9410874272999824, -0.33816335427999944 ], [ -0.427226190525934, -0.9041447794068704 ], [ -0.9494830985438707, 0.31381817279999963 ] ] }, { "task_id": "0003848", "id": "RH20T_cfg4_task_0067_user_0015_scene_0007_cfg_0004_104122062823#82", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003848/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6804510993316614, 0.732793491587943 ], [ 0.7536778122708846, -0.6572440606734863 ], [ -0.785221941469632, -0.6192144237941022 ], [ -0.7674181504002506, 0.6411469273390136 ] ] }, { "task_id": "0003850", "id": "RH20T_cfg7_task_0044_user_0020_scene_0010_cfg_0007_104122064161#82", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up a bag of things', and now you are performing subtask 'pick up a bag of items 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003850/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3030656615741144, -0.9529696767340734 ], [ -0.9749347025337198, -0.2224911813881335 ], [ 0.9363291774594555, 0.35112344154729586 ], [ -0.47999499518824423, 0.8772712263571839 ] ] }, { "task_id": "0003853", "id": "RH20T_cfg4_task_0019_user_0016_scene_0001_cfg_0004_104122062823#172", "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 stone from the bowl 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003853/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.2245629374978694, 0.9744595872083809 ], [ 0.9777748784990424, -0.20965754690967606 ], [ -0.09597950622735443, -0.9953833102801922 ], [ -0.9701424999100378, 0.24253562497750944 ] ] }, { "task_id": "0003854", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#121", "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 Rubik's cube from the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003854/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9146695540503723, 0.40420243306206505 ], [ 0.2501682450599725, -0.9682023802716112 ], [ -0.3417430630575073, 0.939793423408145 ], [ -0.8867264021044944, -0.4622945898567479 ] ] }, { "task_id": "0003855", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#199", "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 Rubik's cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003855/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4667083622257109, 0.8844112757244758 ], [ 0.9615943999549441, 0.2744744249930966 ], [ 0.3036848295571475, -0.9527725459399249 ], [ -0.9253051386466361, -0.37922341747812954 ] ] }, { "task_id": "0003856", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#318", "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 basketball 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003856/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6234539765899597, 0.7818600508237814 ], [ 0.7605011081896832, -0.6493366341446197 ], [ -0.7071067811032142, 0.7071067811032142 ], [ -0.7970722016455958, -0.6038840164831677 ] ] }, { "task_id": "0003857", "id": "RH20T_cfg3_task_0012_user_0011_scene_0005_cfg_0003_104122062823#189", "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 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003857/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9488708494487514, 0.31566455465637094 ], [ 0.5567053701653479, 0.8307100160880829 ], [ 0.9487014563392481, -0.3161732859363515 ], [ -0.4472135952999579, -0.8944271905999158 ] ] }, { "task_id": "0003858", "id": "RH20T_cfg5_task_0094_user_0007_scene_0010_cfg_0005_104122063678#165", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pull the top cover of the box to open it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003858/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9991723846129719, 0.04067610879653318 ], [ 0.2786367836755446, -0.9603965549620364 ], [ -0.1643989872918438, 0.9863939237510627 ], [ -0.9852499477456581, -0.17112142024649593 ] ] }, { "task_id": "0003859", "id": "RH20T_cfg4_task_0014_user_0016_scene_0008_cfg_0004_104122062823#110", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003859/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.30061047139192765, -0.9537470023489055 ], [ -0.9773653492429916, 0.21155844133270885 ], [ 0.9889363528193977, -0.14834045292290965 ], [ 0.040382295326394854, 0.9991843024308238 ] ] }, { "task_id": "0003860", "id": "RH20T_cfg4_task_0109_user_0007_scene_0010_cfg_0004_104122062823#99", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003860/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9643802793647235, -0.26451970961049026 ], [ 0.3713906763311153, 0.9284766908277882 ], [ -0.40653032941014233, -0.9136372864926656 ], [ -0.9447865236705696, 0.3276864731576212 ] ] }, { "task_id": "0003861", "id": "RH20T_cfg6_task_0130_user_0014_scene_0001_cfg_0006_104122064161#103", "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 bulb 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003861/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.28734788553882246, 0.9578262851294083 ], [ 0.9142565035231408, -0.40513583619033394 ], [ -0.21220653275767995, -0.9772248397656312 ], [ -0.9827001041457111, 0.18520395598369022 ] ] }, { "task_id": "0003862", "id": "RH20T_cfg5_task_0023_user_0010_scene_0005_cfg_0005_104122063678#223", "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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003862/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9982894534106987, 0.058465093936198025 ], [ -0.13455374454413574, -0.9909062971992617 ], [ -0.9893299767820884, 0.14569213101726658 ] ] }, { "task_id": "0003863", "id": "RH20T_cfg3_task_0084_user_0010_scene_0009_cfg_0003_104122062823#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'assemble: attach the bubble ring to the ball', and now you are performing subtask 'pick up the bubble ring 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003863/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999995, 0.0 ], [ -0.01994250815135375, -0.9998011284093618 ], [ -0.9946322961344051, 0.10347267990344726 ], [ 0.0982522176991697, 0.9951615455378062 ] ] }, { "task_id": "0003864", "id": "RH20T_cfg2_task_0017_user_0006_scene_0001_cfg_0002_037522062165#256", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003864/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.5393800419598702, -0.8420624503772679 ], [ -0.7428400791779429, 0.669468906497462 ], [ 0.7682212794990152, -0.6401843995825127 ], [ 0.5705057765363873, 0.8212935887602031 ] ] }, { "task_id": "0003865", "id": "RH20T_cfg4_task_0023_user_0014_scene_0006_cfg_0004_038522062288#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 power 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003865/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8063964704616083, -0.5913752889892007 ], [ 0.7071067811151189, 0.7071067811151189 ], [ -0.7912107611067947, -0.6115435646859566 ], [ -0.6119352434284587, 0.7909078693818598 ] ] }, { "task_id": "0003866", "id": "RH20T_cfg7_task_0017_user_0020_scene_0001_cfg_0007_104122064161#122", "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 cube'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003866/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.65839755038954, -0.7526703565579378 ], [ 0.7071067810198809, -0.7071067810198809 ], [ -0.7127825200443452, 0.7013851146975054 ], [ 0.7924440075415834, 0.6099446654504284 ] ] }, { "task_id": "0003867", "id": "RH20T_cfg2_task_0051_user_0013_scene_0001_cfg_0002_105422061350#252", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the dish off the dish rack and place it on the table', and now you are performing subtask 'pick up the plate from the dish rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003867/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.1905068376363274, 0.9816858687043458 ], [ 0.9976554113705337, 0.06843741785815043 ], [ 0.07497071314361851, -0.9971857360445633 ], [ -0.9922778766521293, -0.12403473458151616 ] ] }, { "task_id": "0003868", "id": "RH20T_cfg4_task_0035_user_0016_scene_0006_cfg_0004_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block from the left side of the cardboard to above the black dot on the cardboard', and now you are performing subtask 'pick up a small piece from the left side of the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003868/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9271581831243887, 0.37467012619834367 ], [ -0.4472135952999579, -0.8944271905999158 ], [ 0.4299946669824909, 0.9028314274362722 ], [ 0.9025968239562436, -0.4304869026859027 ] ] }, { "task_id": "0003869", "id": "RH20T_cfg3_task_0010_user_0011_scene_0008_cfg_0003_104122062823#180", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003869/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7618383741611416, 0.647767158518791 ], [ 0.7076900034626495, 0.7065230774709593 ], [ 0.7551717563170425, -0.6555269776760019 ], [ -0.7071067809365474, -0.7071067809365474 ] ] }, { "task_id": "0003870", "id": "RH20T_cfg4_task_0102_user_0015_scene_0005_cfg_0004_104122062823#119", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'scrubbing the table with a brush', and now you are performing subtask 'pick up the brush 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003870/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3846153845857988, 0.9230769230059171 ], [ 0.8532595421948955, -0.521486484631536 ], [ -0.3513627400575714, -0.9362394057607465 ], [ -0.9308542838206871, 0.3653906160435374 ] ] }, { "task_id": "0003871", "id": "RH20T_cfg4_task_0109_user_0007_scene_0006_cfg_0004_104122062823#110", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003871/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8915671368843364, 0.4528885518843095 ], [ 0.5875726583460503, -0.8091714102488765 ], [ -0.49613893832606465, 0.868243142070613 ], [ -0.8884707332509877, -0.4589332807243906 ] ] }, { "task_id": "0003872", "id": "RH20T_cfg4_task_0088_user_0015_scene_0005_cfg_0004_104122062823#218", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up and place an object with obstacles', and now you are performing subtask 'pick up the small box on the left side of the big 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003872/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.33326719978873903, 0.942832420711641 ], [ -0.8944271905999158, 0.4472135952999579 ], [ 0.8336849213890576, -0.5522403931699681 ], [ -0.5011841773432193, -0.865340638350471 ] ] }, { "task_id": "0003873", "id": "RH20T_cfg2_task_0060_user_0007_scene_0009_cfg_0002_037522062165#365", "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 'turn the knob counterclockwise to decrease the volume'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003873/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9996724187841657, -0.02559404466307932 ], [ 0.03452322355375384, 0.9994038958476485 ], [ 0.0, -0.9999999989999999 ], [ 0.9906564893991261, 0.1363807904779817 ] ] }, { "task_id": "0003874", "id": "RH20T_cfg4_task_0088_user_0007_scene_0003_cfg_0004_104122062823#83", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the block', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003874/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.281715075756713, -0.9594981063511222 ], [ -0.9235638739725177, -0.383444612288236 ], [ -0.31687621871480204, 0.9484669008526385 ], [ 0.9383431167707686, 0.3457053588102832 ] ] }, { "task_id": "0003875", "id": "RH20T_cfg4_task_0101_user_0015_scene_0010_cfg_0004_104122062823#137", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003875/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49800738710969095, -0.8671727869255229 ], [ 0.832050294299382, 0.5547001961995881 ], [ -0.8999928636750917, -0.4359046287135615 ], [ -0.48582468127973066, 0.8740562791144791 ] ] }, { "task_id": "0003876", "id": "RH20T_cfg4_task_0210_user_0014_scene_0007_cfg_0004_104122062823#92", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the onions', and now you are performing subtask 'pick up the knife from the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003876/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8979939366934363, -0.44000782909151154 ], [ 0.33282011771667597, 0.9429903335305818 ], [ -0.25894793809342986, -0.9658912802987515 ], [ -0.8803571339288642, 0.4743114132514164 ] ] }, { "task_id": "0003877", "id": "RH20T_cfg6_task_0044_user_0020_scene_0006_cfg_0006_104122064161#185", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003877/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.4472135952999579, -0.8944271905999158 ], [ -0.8499322998150521, -0.526891910861323 ], [ -0.37901910356900737, 0.9253888475282951 ], [ 0.8699602483395932, 0.49312185746417003 ] ] }, { "task_id": "0003878", "id": "RH20T_cfg5_task_0047_user_0007_scene_0002_cfg_0005_104122063678#214", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003878/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999989999999 ], [ 0.9978622488689325, 0.06535237013480645 ], [ -0.0012089640641798104, -0.9999992692026787 ], [ -0.9947981995347287, 0.10186531403015477 ] ] }, { "task_id": "0003879", "id": "RH20T_cfg5_task_0001_user_0020_scene_0005_cfg_0005_104122063678#227", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button', and now you are performing subtask 'press the red button'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003879/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999995 ], [ 0.9935836509782309, -0.11309963973757395 ], [ -0.11246216096670306, -0.9936560080584727 ], [ -0.9989197367939695, 0.046468908352432434 ] ] }, { "task_id": "0003880", "id": "RH20T_cfg4_task_0042_user_0014_scene_0001_cfg_0004_104122062823#117", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'putting the lid on the jar (needs to be twisted)', and now you are performing subtask 'take off the lid 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003880/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7882584445009954, -0.6153443139193465 ], [ -0.6237666443966459, -0.7816106277029173 ], [ -0.7884812996015126, 0.6150587290484623 ], [ 0.6794080314798413, 0.7337606739982285 ] ] }, { "task_id": "0003881", "id": "RH20T_cfg3_task_0085_user_0010_scene_0006_cfg_0003_038522062288#198", "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 from the assembled bubble ring and ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003881/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ -0.07505455077164139, -0.9971794293949646 ], [ -0.9999946475546782, 0.0032718285399956706 ], [ -0.1299828475701061, 0.9915162425989634 ] ] }, { "task_id": "0003882", "id": "RH20T_cfg4_task_0062_user_0015_scene_0004_cfg_0004_104122062823#187", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003882/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.633702436666635, -0.7735769010012964 ], [ 0.7071067810865475, 0.7071067810865475 ], [ -0.7274303810808571, -0.6861814925226117 ], [ -0.8075269217055466, 0.5898307136126126 ] ] }, { "task_id": "0003883", "id": "RH20T_cfg2_task_0064_user_0007_scene_0002_cfg_0002_105422061350#176", "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, 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003883/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9980754624872237, 0.06201105692466977 ], [ -0.022445044868411066, -0.999748078248143 ], [ 0.0, 0.9999999996666666 ], [ -0.9984633180544615, -0.05541662656347059 ] ] }, { "task_id": "0003884", "id": "RH20T_cfg6_task_0008_user_0014_scene_0002_cfg_0006_104122064161#45", "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 by the cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003884/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9918617334385322, -0.12731968323990658 ], [ -0.0712776780961932, 0.9974565116360791 ], [ 0.9893435642856054, 0.1455998345007782 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0003885", "id": "RH20T_cfg4_task_0032_user_0016_scene_0005_cfg_0004_104122062823#90", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003885/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9965347726253769, -0.08317720209581629 ], [ -0.08096105201508566, -0.9967172658565772 ], [ 0.2039542541036816, 0.9789804196976716 ], [ -0.9812495008375649, 0.1927418405692698 ] ] }, { "task_id": "0003886", "id": "RH20T_cfg3_task_0026_user_0010_scene_0010_cfg_0003_104122062823#90", "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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003886/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9486832979755138, 0.31622776599183794 ], [ 0.26114449743791507, 0.965299721049322 ], [ 0.9805800995687918, -0.1961190157268241 ], [ -0.1648703937821664, -0.9863152403030754 ] ] }, { "task_id": "0003887", "id": "RH20T_cfg6_task_0079_user_0014_scene_0004_cfg_0006_104122064161#106", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the microwave door', and now you are performing subtask 'pull the handle of the microwave door to open the microwave door'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003887/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.7676515958448539, 0.64086740235157 ], [ 0.594524447479185, 0.8040775344141694 ], [ -0.59999999988, -0.79999999984 ], [ 0.8553597679330565, -0.5180344268497101 ] ] }, { "task_id": "0003888", "id": "RH20T_cfg6_task_0206_user_0014_scene_0001_cfg_0006_104122064161#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the green garlic', and now you are performing subtask 'pick up the knife on the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003888/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.028559773898061334, -0.9995920864321466 ], [ -0.9967719948590964, -0.08028443351371166 ], [ -0.09880373948110706, 0.9951069395118042 ], [ 0.9998173753810683, -0.019110622337120513 ] ] }, { "task_id": "0003889", "id": "RH20T_cfg4_task_0074_user_0015_scene_0002_cfg_0004_104122062823#97", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button horizontally', and now you are performing subtask 'press the green button horizontally'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003889/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.699594452099685, -0.7145401336463486 ], [ -0.8643847695786155, -0.5028309558097273 ], [ 0.7808688093210792, 0.6246950474568633 ], [ -0.5736791778840291, 0.8190800942901155 ] ] }, { "task_id": "0003890", "id": "RH20T_cfg2_task_0004_user_0006_scene_0002_cfg_0002_037522062165#179", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003890/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8886009627330946, -0.45868107550869974 ], [ -0.5725141690619128, -0.8198948263181977 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.9169147075032608, 0.39908322335599355 ] ] }, { "task_id": "0003891", "id": "RH20T_cfg4_task_0091_user_0015_scene_0010_cfg_0004_104122062823#91", "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 from the black 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003891/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8149448634125164, -0.5795384970798361 ], [ 0.4472135954713865, 0.894427190942773 ], [ -0.413985604121102, -0.9102834281587721 ], [ -0.9526484868802613, 0.3040737746744184 ] ] }, { "task_id": "0003892", "id": "RH20T_cfg1_task_0028_user_0001_scene_0005_cfg_0001_039422060546#151", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to the closed position', and now you are performing subtask 'push the drawer to the closed position'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003892/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08110303061652394, 0.9967057230822021 ], [ -0.9999999989999999, 0.0 ], [ 0.9932745770669824, 0.11578261766088822 ], [ -0.09440815201422766, -0.9955335759447084 ] ] }, { "task_id": "0003893", "id": "RH20T_cfg2_task_0064_user_0007_scene_0004_cfg_0002_105422061350#278", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003893/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067806865474, 0.7071067806865474 ], [ 0.7731714666948163, -0.6341970380638706 ], [ -0.7002884147216688, -0.7138600256399094 ], [ -0.7082613469961216, 0.7059503271132039 ] ] }, { "task_id": "0003894", "id": "RH20T_cfg4_task_0104_user_0007_scene_0005_cfg_0004_104122062823#129", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate back on the desk', and now you are performing subtask 'push the plate back on the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003894/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3610594652097762, 0.9325427939684219 ], [ 0.8605708414404472, -0.5093307637110495 ], [ -0.3227225715036286, -0.9464936036984536 ], [ -0.9191450298973682, 0.3939192985274435 ] ] }, { "task_id": "0003895", "id": "RH20T_cfg4_task_0074_user_0007_scene_0004_cfg_0004_104122062823#108", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'press the button', and now you are performing subtask 'press the button on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003895/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5884622115198443, -0.8085247217081083 ], [ -0.6355704698688402, -0.7720428600995554 ], [ 0.7071067811151189, 0.7071067811151189 ], [ -0.8048576478416564, 0.5934679154855773 ] ] }, { "task_id": "0003896", "id": "RH20T_cfg7_task_0047_user_0020_scene_0009_cfg_0007_104122064161#126", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003896/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9674238957787028, -0.2531620150740581 ], [ 0.16439898727833027, 0.9863939236699816 ], [ -0.16678031397918594, -0.9859940805446066 ], [ -0.9923659354753244, 0.12332822105335173 ] ] }, { "task_id": "0003897", "id": "RH20T_cfg4_task_0014_user_0007_scene_0001_cfg_0004_104122062823#130", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003897/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9944509435263875, -0.10520133516014729 ], [ -0.34318775460366696, -0.9392668231605401 ], [ -0.9672589618390603, 0.25379145127845254 ], [ 0.24253562497750944, 0.9701424999100378 ] ] }, { "task_id": "0003898", "id": "RH20T_cfg5_task_0024_user_0010_scene_0010_cfg_0005_104122063678#214", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003898/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9997859703813495, 0.02068848541153511 ], [ 0.0, -0.9999999989999999 ], [ -0.07778073557338105, 0.9969704896202615 ], [ 0.9990483921732801, 0.04361548000405397 ] ] }, { "task_id": "0003899", "id": "RH20T_cfg6_task_0006_user_0014_scene_0008_cfg_0006_104122064161#166", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block on the table', and now you are performing subtask 'push the 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003899/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7808688093210792, 0.6246950474568633 ], [ 0.6979471100931237, -0.7161493081143465 ], [ -0.719529873266662, -0.6944614902763591 ], [ -0.6213884667707665, 0.7835026313703587 ] ] }, { "task_id": "0003900", "id": "RH20T_cfg5_task_0034_user_0007_scene_0003_cfg_0005_104122063678#241", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003900/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9983494321927571, 0.05743179642323129 ], [ 0.0, 0.9999999989999999 ], [ 0.0990783067537641, -0.9950796395921319 ], [ -0.990214869301681, 0.1395511111165179 ] ] }, { "task_id": "0003901", "id": "RH20T_cfg5_task_0034_user_0007_scene_0003_cfg_0005_104122063678#1904", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stack the squares into a pyramid shape', and now you are performing subtask 'place the first block in 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003901/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9561600560491877, 0.29284457860102886 ], [ 0.2099668706719011, -0.9777085011496265 ], [ -0.9682559209421071, -0.24996094006974742 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0003902", "id": "RH20T_cfg5_task_0012_user_0007_scene_0003_cfg_0005_104122063678#176", "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 towards the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003902/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3939192985274435, 0.9191450298973682 ], [ 0.9518846355003338, -0.3064565886033402 ], [ -0.5197350685997002, -0.8543274890038743 ], [ -0.9348453696369124, 0.3550551152545538 ] ] }, { "task_id": "0003903", "id": "RH20T_cfg4_task_0070_user_0015_scene_0008_cfg_0004_104122062823#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'slide the handle of the window to open the window'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003903/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8944271905999158, -0.4472135952999579 ], [ -0.5401413059814202, -0.841574339896771 ], [ -0.8572291767805215, 0.5149350818075902 ], [ 0.5550493245960055, 0.8318174362596147 ] ] }, { "task_id": "0003904", "id": "RH20T_cfg4_task_0109_user_0015_scene_0006_cfg_0004_104122062823#171", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the pencil into the pencil sharpener', and now you are performing subtask 'pick up the pencil 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003904/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.08946740686461917, 0.9959897505039501 ], [ 0.9880476963791004, -0.15414846635614957 ], [ 0.08225299745501985, -0.9966114811749183 ], [ -0.9999999996666666, 0.0 ] ] }, { "task_id": "0003905", "id": "RH20T_cfg2_task_0054_user_0007_scene_0019_cfg_0002_105422061350#196", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'grasping the moving object', and now you are performing subtask 'pick up the moving object in hand'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003905/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9969721053196472, 0.07776002324144703 ], [ 0.0037127701240091348, -0.999993107645251 ], [ 0.0, 0.9999999999 ], [ -0.9949935231601083, -0.09993942600112961 ] ] }, { "task_id": "0003906", "id": "RH20T_cfg4_task_0125_user_0010_scene_0009_cfg_0004_104122062823#147", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull up the lever', and now you are performing subtask 'pull the lever beside the machine'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003906/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7300680331848947, 0.6833744704929644 ], [ 0.5599124292406732, -0.8285517917316987 ], [ -0.59999999988, 0.79999999984 ], [ -0.728489169681856, -0.6850573185188523 ] ] }, { "task_id": "0003907", "id": "RH20T_cfg4_task_0085_user_0007_scene_0006_cfg_0004_104122062823#77", "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 from the ball'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003907/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9930155795864734, 0.11798329838812169 ], [ 0.020623063124746804, -0.9997873220177144 ], [ -0.1414213562273095, 0.9899494935911665 ], [ -0.9936898272442539, -0.1121629494587448 ] ] }, { "task_id": "0003908", "id": "RH20T_cfg3_task_0092_user_0010_scene_0005_cfg_0003_104122062823#146", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003908/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.09570567885547844, 0.9954096759801022 ], [ -0.99999999975, 0.0 ], [ 0.9965414266094709, 0.0830974431084416 ], [ -0.06788664809278253, -0.9976930404742366 ] ] }, { "task_id": "0003909", "id": "RH20T_cfg6_task_0073_user_0020_scene_0009_cfg_0006_104122064161#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer, put things in the drawer and then close the drawer', and now you are performing subtask 'pull 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003909/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8941162860583816, 0.44783486577662357 ], [ 0.40386279092991817, -0.9148195702444811 ], [ -0.8818617531116414, -0.47150805761817316 ], [ -0.4472135953999579, 0.8944271907999158 ] ] }, { "task_id": "0003910", "id": "RH20T_cfg6_task_0073_user_0020_scene_0009_cfg_0006_104122064161#331", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open the drawer, put things in the drawer and then close the drawer', and now you are performing subtask 'pull 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003910/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9974234269252346, 0.0717391623921094 ], [ 0.07721440621109545, -0.9970145111649419 ], [ 0.0, 0.9999999996666666 ], [ -0.9952128592688311, -0.09773108382678426 ] ] }, { "task_id": "0003911", "id": "RH20T_cfg2_task_0035_user_0007_scene_0009_cfg_0002_037522062165#247", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003911/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6346789503985624, 0.7727759247809026 ], [ 0.7757568089445182, -0.631031990770847 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.7859112937237553, -0.6183392583343333 ] ] }, { "task_id": "0003912", "id": "RH20T_cfg2_task_0075_user_0014_scene_0008_cfg_0002_105422061350#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'finish setting up the starting position of a chessboard that is almost arranged', and now you are performing subtask 'pick up the chess piece on the chessboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003912/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8905438831236552, -0.45489734251921243 ], [ -0.40920256948062106, -0.912443563805706 ], [ -0.9433831275227559, 0.33170510201892256 ], [ 0.4472135952999579, 0.8944271905999158 ] ] }, { "task_id": "0003913", "id": "RH20T_cfg2_task_0013_user_0003_scene_0009_cfg_0002_037522062165#199", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003913/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999596113675855, -0.008987526555589206 ], [ 0.0, 0.9999999996666666 ], [ 0.045040375062967646, -0.9989851673644545 ], [ -0.9987910275084245, -0.04915773966188528 ] ] }, { "task_id": "0003914", "id": "RH20T_cfg3_task_0041_user_0010_scene_0010_cfg_0003_104122062823#134", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'wipe the stains on the tabletop with a sponge', and now you are performing subtask 'clean the stain on the tabletop with a sponge'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003914/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.2195060127372282, -0.9756111471135432 ], [ 0.9912279006171324, -0.13216372008228433 ], [ -0.9993940654678524, 0.03480663597129184 ], [ 0.013846063043006958, 0.9999041386744077 ] ] }, { "task_id": "0003915", "id": "RH20T_cfg4_task_0020_user_0016_scene_0009_cfg_0004_104122062823#117", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003915/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.4472135954499579, 0.8944271908999158 ], [ 0.8753932479053222, 0.48341148261266104 ], [ 0.36298700718930327, -0.931794200782422 ], [ -0.9502956626271518, -0.3113489257923056 ] ] }, { "task_id": "0003916", "id": "RH20T_cfg4_task_0217_user_0014_scene_0002_cfg_0004_038522062288#138", "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 block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003916/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9857016405725069, -0.16850007647674398 ], [ -0.2786513354505991, -0.9603923329825148 ], [ 0.31622776591683793, 0.9486832977505137 ], [ -0.9242470471734805, 0.3817949656439988 ] ] }, { "task_id": "0003917", "id": "RH20T_cfg3_task_0012_user_0011_scene_0002_cfg_0003_104122062823#210", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003917/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.49874861838243467, -0.8667466848287408 ], [ -0.7983667417513313, -0.6021715251200136 ], [ 0.8221921915917786, 0.5692099787943082 ], [ -0.6086995415955204, 0.7934008243387469 ] ] }, { "task_id": "0003918", "id": "RH20T_cfg2_task_0004_user_0002_scene_0003_cfg_0002_104122061850#254", "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 block on the right side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003918/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.6228118767288912, 0.7823716292181335 ], [ 0.7482290617763127, 0.6634404804602586 ], [ -0.7525766946360813, -0.6585046078065712 ], [ 0.5490039697395781, -0.8358197420557764 ] ] }, { "task_id": "0003919", "id": "RH20T_cfg6_task_0002_user_0020_scene_0004_cfg_0006_104122064161#47", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull out a napkin and throw it on the table', and now you are performing subtask 'pull the napkin out of the tissue bag'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003919/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.19480435764462098, -0.9808421189175487 ], [ -0.9488123331605777, -0.31584039710331735 ], [ 0.982338566376523, 0.18711210788124247 ], [ -0.16689616244799563, 0.9859744778441947 ] ] }, { "task_id": "0003920", "id": "RH20T_cfg6_task_0031_user_0020_scene_0010_cfg_0006_104122064161#159", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the box', and now you are performing subtask 'pick up the lid of the pink box 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003920/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999999989999999, 0.0 ], [ 0.0829041122045309, -0.9965575287857589 ], [ -0.9999443511438397, -0.010549626321597852 ], [ 0.14171941407895886, 0.9899068681816066 ] ] }, { "task_id": "0003921", "id": "RH20T_cfg4_task_0201_user_0010_scene_0009_cfg_0004_104122062823#149", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert a tip of a pipette into the holder for pipette tips', and now you are performing subtask 'place the pipette tip 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003921/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.11334345183181714, 0.9935558675418552 ], [ 0.9940928350870558, 0.10853310660153286 ], [ -0.9999999996666666, 0.0 ], [ 0.1286701875852854, -0.9916874421039965 ] ] }, { "task_id": "0003923", "id": "RH20T_cfg4_task_0218_user_0010_scene_0003_cfg_0004_104122062823#99", "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 green 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003923/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6585046078065712, 0.7525766946360813 ], [ 0.831150365781105, -0.5560477222882361 ], [ -0.7033377905517311, -0.7108557887376379 ], [ -0.7771283575290567, 0.6293421294686943 ] ] }, { "task_id": "0003924", "id": "RH20T_cfg3_task_0089_user_0010_scene_0006_cfg_0003_104122062823#93", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push an object with obstacles', and now you are performing subtask 'push the wooden block from the front side of the table to the back side of 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003924/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9425754608745485, 0.3339932642391651 ], [ 0.386864211522585, -0.9221366936864669 ], [ -0.9919722543421953, -0.12645571009354664 ], [ -0.26764386377176796, 0.9635179095783646 ] ] }, { "task_id": "0003925", "id": "RH20T_cfg3_task_0012_user_0010_scene_0007_cfg_0003_104122062823#140", "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 into the goal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003925/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9999612723980184, -0.008800778609647281 ], [ -0.09837137232679914, -0.9951497742081553 ], [ -0.9814206747005082, 0.19186833837399878 ], [ 0.06049506040006053, 0.9981684966009987 ] ] }, { "task_id": "0003926", "id": "RH20T_cfg4_task_0094_user_0015_scene_0003_cfg_0004_104122062823#135", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a box', and now you are performing subtask 'pick up the pink lid from the 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003926/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7856509416852826, 0.6186700233800154 ], [ 0.7607670751900629, -0.6490250051475345 ], [ -0.7071067811032142, 0.7071067811032142 ], [ -0.6998453031284959, -0.714294443271809 ] ] }, { "task_id": "0003927", "id": "RH20T_cfg5_task_0119_user_0010_scene_0010_cfg_0005_104122063678#140", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'turn the handle of the faucet counterclockwise to turn off the water tap'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003927/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9973626349236961, -0.07257943550388071 ], [ 0.0070180991811577085, -0.9999753728386932 ], [ -0.9982342328359494, -0.05940047469863963 ], [ 0.0, 0.9999999999545455 ] ] }, { "task_id": "0003928", "id": "RH20T_cfg3_task_0062_user_0010_scene_0004_cfg_0003_104122062823#116", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003928/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5311367476350455, 0.8472861118368847 ], [ -0.9153150323892536, 0.40273861425127155 ], [ 0.9030507122609724, -0.42953394637088954 ], [ -0.32112175829766537, -0.9470379170591935 ] ] }, { "task_id": "0003929", "id": "RH20T_cfg4_task_0013_user_0007_scene_0008_cfg_0004_104122062823#187", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003929/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9392554055309508, -0.34321900177712955 ], [ -0.4542292180885298, -0.8908848508279187 ], [ 0.4472135952999579, 0.8944271905999158 ], [ -0.8232899736475463, 0.5676210173094567 ] ] }, { "task_id": "0003930", "id": "RH20T_cfg6_task_0041_user_0014_scene_0009_cfg_0006_104122064161#114", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'clean the tabletop with a sponge', and now you are performing subtask 'wipe the table with a towel'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003930/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9768416900760707, 0.21396334389171906 ], [ 0.45229791948431175, -0.8918669138555164 ], [ -0.910840883041315, -0.4127576598689811 ], [ -0.31622776591683793, 0.9486832977505137 ] ] }, { "task_id": "0003931", "id": "RH20T_cfg6_task_0006_user_0014_scene_0002_cfg_0006_104122064161#75", "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 'push the square on the desktop upward'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003931/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8441422449441893, -0.5361192687271968 ], [ -0.5520756162267523, -0.8337940476927451 ], [ -0.9279756991348265, 0.3726407141137828 ], [ 0.4472135954713865, 0.894427190942773 ] ] }, { "task_id": "0003932", "id": "RH20T_cfg4_task_0013_user_0007_scene_0002_cfg_0004_104122062823#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the power strip from the desktop and place it on the scale', and now you are performing subtask 'pick up the power strip from the desk'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003932/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.49352328235065773, 0.8697325852110136 ], [ -0.8320502942224591, -0.554700196148306 ], [ 0.9023069050067021, 0.4310942462817456 ], [ 0.43158061789741287, -0.9020743706897383 ] ] }, { "task_id": "0003933", "id": "RH20T_cfg3_task_0064_user_0010_scene_0004_cfg_0003_104122062823#374", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003933/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999998888889, 0.0 ], [ 0.08786949886690673, 0.9961319948525289 ], [ 0.9968665345173074, -0.07910191122503916 ], [ 0.00997310891577298, -0.9999502673126069 ] ] }, { "task_id": "0003934", "id": "RH20T_cfg6_task_0010_user_0014_scene_0004_cfg_0006_104122064161#53", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003934/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9755359360593037, -0.21984002696710658 ], [ -0.10012593148019429, -0.9949747724667313 ], [ 0.1447991801136913, 0.9894610641102239 ], [ -0.9986076291864635, 0.05275227891371706 ] ] }, { "task_id": "0003935", "id": "RH20T_cfg4_task_0023_user_0014_scene_0010_cfg_0004_038522062288#81", "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 to turn on the power socket'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003935/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3673530084580397, 0.9300815916772182 ], [ 0.9762920203264096, -0.21645759641781445 ], [ -0.9701425001061162, 0.24253562502652906 ], [ -0.19147354298857047, -0.9814977750027781 ] ] }, { "task_id": "0003936", "id": "RH20T_cfg2_task_0028_user_0006_scene_0005_cfg_0002_037522062165#243", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the drawer to close', and now you are performing subtask 'push the drawer to close'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003936/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.00582177645673664, 0.9999830533158488 ], [ 0.9999481805794233, 0.010180184472849747 ], [ -0.06908039048905698, -0.9976110963947221 ], [ -0.9999999989999999, 0.0 ] ] }, { "task_id": "0003937", "id": "RH20T_cfg2_task_0007_user_0013_scene_0009_cfg_0002_105422061350#282", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'slide the small block to the dot on the table', and now you are performing subtask 'slide a small piece to the dot 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003937/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1414213562173095, 0.9899494935211665 ], [ 0.9624351812536415, -0.2715115501875942 ], [ -0.2352571848098878, -0.9719331545920873 ], [ -0.992524442077161, 0.12204602361167127 ] ] }, { "task_id": "0003938", "id": "RH20T_cfg6_task_0104_user_0014_scene_0006_cfg_0006_104122064161#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the white disc out of the goal', and now you are performing subtask 'pull the white disk from 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003938/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6980709707934436, 0.7160285746640976 ], [ 0.682114886976035, -0.7312450211561589 ], [ -0.6592962369336445, -0.7518832834723325 ], [ -0.7071067809365474, 0.7071067809365474 ] ] }, { "task_id": "0003939", "id": "RH20T_cfg5_task_0119_user_0007_scene_0008_cfg_0005_104122063678#203", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the faucet handle clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003939/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6093522744099025, 0.7928996189124314 ], [ 0.6501348871434816, -0.7598188129540704 ], [ -0.6817996854070023, -0.7315389182941073 ], [ -0.7071067806865474, 0.7071067806865474 ] ] }, { "task_id": "0003940", "id": "RH20T_cfg4_task_0086_user_0007_scene_0005_cfg_0004_104122062823#98", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'dial a number on an old rotary phone', and now you are performing subtask 'pick up the wooden stick on the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003940/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9973098817823784, 0.07330074828552913 ], [ 0.10395571309653244, 0.9945819271003227 ], [ 0.0, -0.9999999998 ], [ 0.9931451614440965, 0.11688750275448428 ] ] }, { "task_id": "0003941", "id": "RH20T_cfg2_task_0128_user_0007_scene_0002_cfg_0002_105422061350#58", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the usb drive to the docking station', and now you are performing subtask 'insert a USB drive into the dock's port'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003941/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.10218936357386789, -0.9947649641861981 ], [ -0.9999679512370211, 0.008006028905431412 ], [ -0.09228548253195418, 0.9957325894605662 ], [ 0.9999999989999999, 0.0 ] ] }, { "task_id": "0003942", "id": "RH20T_cfg2_task_0009_user_0003_scene_0003_cfg_0002_104122061850#190", "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 pedestal'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003942/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.689640709297442, 0.724151705155571 ], [ 0.6012823730137968, -0.7990366123669786 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6849402101663639, -0.7285992784084111 ] ] }, { "task_id": "0003943", "id": "RH20T_cfg5_task_0025_user_0010_scene_0009_cfg_0005_104122063678#197", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unfold a piece of paper that has been folded once with one end pressed down by a weight', and now you are performing subtask 'push the folded paper'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003943/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.789579837328741, -0.613647847290218 ], [ 0.5144957553392911, 0.8574929255654853 ], [ -0.46474559423266154, -0.8854442572185616 ], [ -0.7692717832120157, 0.6389216881228915 ] ] }, { "task_id": "0003945", "id": "RH20T_cfg4_task_0093_user_0014_scene_0003_cfg_0004_038522062288#127", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the photo frame on the bracket', and now you are performing subtask 'pick up the photo frame 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003945/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9372588797179586, -0.3486341813274155 ], [ 0.30850469802950525, 0.9512228189243079 ], [ -0.3597033383973573, -0.9330667223440113 ], [ -0.9839402816845676, 0.1784979609925385 ] ] }, { "task_id": "0003946", "id": "RH20T_cfg4_task_0105_user_0015_scene_0010_cfg_0004_104122062823#95", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pick up the cube on the surface', and now you are performing subtask 'pick up the cube 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003946/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.829826960054554, -0.558020802808119 ], [ -0.5681829830742096, -0.8229022406974552 ], [ -0.7839896027377478, 0.6207739546719954 ], [ 0.5665288228578875, 0.8240419241569272 ] ] }, { "task_id": "0003947", "id": "RH20T_cfg2_task_0007_user_0013_scene_0005_cfg_0002_105422061350#339", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'sliding a small block on the table', and now you are performing subtask 'slide a small block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003947/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.692935009025731, 0.721000050808951 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.742939613480345, -0.6693584471131111 ], [ -0.7722364464303132, -0.6353352428479644 ] ] }, { "task_id": "0003948", "id": "RH20T_cfg3_task_0021_user_0011_scene_0010_cfg_0003_104122062823#166", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003948/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7035529705034276, -0.7106428200550563 ], [ 0.7071067810865475, 0.7071067810865475 ], [ -0.6967783588508336, -0.7172864969014395 ], [ -0.7950792378689951, 0.6065055692321859 ] ] }, { "task_id": "0003950", "id": "RH20T_cfg2_task_0033_user_0003_scene_0004_cfg_0002_037522062165#154", "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 big wooden block to the side of the small wooden block'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003950/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9929608427321652, -0.11844308675743158 ], [ -0.1950786034141829, -0.980787611305308 ], [ -0.9650688634195449, 0.2619963527572622 ], [ 0.12403473457382384, 0.9922778765905907 ] ] }, { "task_id": "0003951", "id": "RH20T_cfg3_task_0015_user_0010_scene_0008_cfg_0003_104122062823#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'put the drumsticks on the drum', and now you are performing subtask 'pick up the drumsticks 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": "C" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003951/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9580845536624434, -0.28648558084733805 ], [ -0.4860314207620521, -0.8739413355780932 ], [ 0.3713906762851382, 0.9284766907128456 ], [ -0.8822253807345315, 0.47082733309336555 ] ] }, { "task_id": "0003952", "id": "RH20T_cfg4_task_0125_user_0010_scene_0005_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pulling up the lever', and now you are performing subtask 'pull up the lever'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003952/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09053574603432181, -0.9958932063775399 ], [ -0.9760425700385003, -0.21757964397580765 ], [ 0.002412914173140813, 0.9999970889183594 ], [ 0.9921629985759908, 0.12495032715722848 ] ] }, { "task_id": "0003953", "id": "RH20T_cfg6_task_0013_user_0014_scene_0001_cfg_0006_104122064161#59", "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 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003953/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9094727884743176, 0.4157634508043598 ], [ 0.12143371700243888, -0.9925995428041319 ], [ -0.9798799225213713, -0.19958791907204995 ], [ -0.2747211278847994, 0.961523947596798 ] ] }, { "task_id": "0003954", "id": "RH20T_cfg5_task_0119_user_0007_scene_0004_cfg_0005_104122063678#156", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'turn off the water tap', and now you are performing subtask 'twist the water tap handle clockwise'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003954/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9402922640484667, 0.3403681215546028 ], [ 0.23561489414880116, -0.9718465010768157 ], [ -0.37139067631962097, 0.9284766907990525 ], [ -0.8600001400595825, -0.5102937968440324 ] ] }, { "task_id": "0003955", "id": "RH20T_cfg4_task_0213_user_0014_scene_0008_cfg_0004_104122062823#87", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the orange on the cutting board'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003955/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9303755483212568, -0.3666078819200713 ], [ -0.2978800117933619, -0.9546033200099331 ], [ -0.9246496565699233, 0.38081887112526736 ], [ 0.28734788553882246, 0.9578262851294083 ] ] }, { "task_id": "0003956", "id": "RH20T_cfg3_task_0024_user_0010_scene_0006_cfg_0003_104122062823#255", "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 'pick up 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003956/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8574929256390147, 0.5144957553834089 ], [ 0.5939583923240711, -0.80449576020499 ], [ -0.7906615048407807, -0.6122535298084545 ], [ -0.5426385589814484, 0.8399663054590566 ] ] }, { "task_id": "0003957", "id": "RH20T_cfg4_task_0083_user_0007_scene_0010_cfg_0004_104122062823#80", "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 cardboard'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003957/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.41529234958143324, 0.9096880038450442 ], [ 0.8660190200729921, -0.5000110567495627 ], [ -0.2950088453255263, -0.9554945217947091 ], [ -0.9544795034286443, 0.29827651187213633 ] ] }, { "task_id": "0003958", "id": "RH20T_cfg4_task_0104_user_0007_scene_0003_cfg_0004_104122062823#131", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the plate on the table', and now you are performing subtask 'push the plate on the counter'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003958/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9808644713140428, 0.19469177926616008 ], [ 0.02374211021210066, -0.9997181163721485 ], [ -0.09053574603432181, 0.9958932063775399 ], [ -0.9997140039794274, -0.023914645040675555 ] ] }, { "task_id": "0003959", "id": "RH20T_cfg5_task_0017_user_0010_scene_0002_cfg_0005_104122063678#282", "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 above the pen holder'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003959/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8013601507335606, 0.5981821702594328 ], [ 0.6511287317404726, -0.7589673080588147 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6916168334661047, -0.7222646022520545 ] ] }, { "task_id": "0003960", "id": "RH20T_cfg2_task_0035_user_0007_scene_0005_cfg_0002_037522062165#224", "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 surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003960/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.655982510215083, 0.7547760901697393 ], [ 0.6004486458922522, -0.7996633189325123 ], [ -0.7071067806865474, 0.7071067806865474 ], [ -0.6222807376401234, -0.7827941514613301 ] ] }, { "task_id": "0003961", "id": "RH20T_cfg4_task_0077_user_0015_scene_0001_cfg_0004_104122062823#199", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'stacking blocks (small Lego) randomly one at a time', and now you are performing subtask 'pick up a small Lego block from the left side of the mat'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003961/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.1558544791855496, 0.9877800267862279 ], [ 0.9995882148282383, 0.02869496082059886 ], [ -0.9999999989999999, 0.0 ], [ -0.06599637437399307, -0.9978198627856071 ] ] }, { "task_id": "0003963", "id": "RH20T_cfg2_task_0015_user_0006_scene_0007_cfg_0002_037522062165#258", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'play the drum', and now you are performing subtask 'pick up the wooden stick 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003963/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8016202116137893, 0.5978336192723388 ], [ -0.7071067806865474, 0.7071067806865474 ], [ 0.6031316368852816, -0.7976416667828234 ], [ -0.7857589059430575, -0.6185328946233736 ] ] }, { "task_id": "0003964", "id": "RH20T_cfg7_task_0047_user_0014_scene_0005_cfg_0007_104122064161#127", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003964/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.48409218348230615, -0.8750170043441061 ], [ -0.8470183839066364, 0.531563596688289 ], [ 0.5770593829417037, 0.8167021908620916 ], [ 0.8944271905999158, -0.4472135952999579 ] ] }, { "task_id": "0003965", "id": "RH20T_cfg4_task_0018_user_0016_scene_0008_cfg_0004_104122062823#172", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'pull the blocks', and now you are performing subtask 'pull a block from the pile'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003965/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.5588477383475114, -0.8292702848552282 ], [ -0.9013237817379401, -0.43314598055807724 ], [ -0.4666961473136267, 0.8844177214883348 ], [ 0.8944271905999158, 0.4472135952999579 ] ] }, { "task_id": "0003966", "id": "RH20T_cfg6_task_0127_user_0014_scene_0004_cfg_0006_104122064161#118", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp', and now you are performing subtask 'pick up the power cord 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003966/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.11218091789772348, 0.9936877988883753 ], [ 0.9999270711117584, 0.01207693909318625 ], [ -0.9999999998, 0.0 ], [ -0.024457777669268942, -0.9997008638145116 ] ] }, { "task_id": "0003967", "id": "RH20T_cfg2_task_0014_user_0003_scene_0006_cfg_0002_037522062165#188", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003967/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.15389022603382327, 0.9880879507064434 ], [ 0.9900145862920855, 0.14096495638601417 ], [ 0.1502291202668334, -0.9886512081739713 ] ] }, { "task_id": "0003968", "id": "RH20T_cfg4_task_0120_user_0007_scene_0008_cfg_0004_104122062823#150", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'installing the light bulb by rotating it', and now you are performing subtask 'twist the light bulb clockwise to install it'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003968/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9462911647304568, 0.3233156840505506 ], [ 0.40777440255727615, -0.9130827107217925 ], [ -0.9929123764541025, -0.11884869660314648 ], [ -0.26311740576903186, 0.9647638211531168 ] ] }, { "task_id": "0003969", "id": "RH20T_cfg3_task_0076_user_0010_scene_0008_cfg_0003_104122062823#363", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'insert the yellow Lego block onto the white Lego block', and now you are performing subtask 'pick up the yellow Lego brick 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003969/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9999999989999999, 0.0 ], [ -0.1085620843405017, 0.994089670926947 ], [ 0.9989912594659585, 0.04490504994561315 ], [ -0.13390400019676144, -0.9909943081225572 ] ] }, { "task_id": "0003971", "id": "RH20T_cfg4_task_0004_user_0010_scene_0005_cfg_0004_104122062823#124", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'move the small block to the left', and now you are performing subtask 'pick up the small block on the right'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003971/image.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.3759649571971014, -0.9266338818323997 ], [ -0.8734961399025344, -0.48683107293533767 ], [ 0.9363291774594555, 0.35112344154729586 ], [ -0.37614681560828955, 0.9265600752826249 ] ] }, { "task_id": "0003972", "id": "RH20T_cfg3_task_0016_user_0011_scene_0004_cfg_0003_104122062823#174", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'hit the pool ball', and now you are performing subtask 'pick up the cue 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": "A" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003972/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.0, 0.9999999998 ], [ 0.9968206093036687, -0.07967855964726632 ], [ 0.11139622714134456, -0.993776071647267 ], [ -0.9997061067265793, 0.024242528201184332 ] ] }, { "task_id": "0003973", "id": "RH20T_cfg6_task_0213_user_0014_scene_0004_cfg_0006_104122064161#102", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the orange', and now you are performing subtask 'pick up the knife from the rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003973/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.14357026277079027, -0.9896401263327625 ], [ -0.9920804003882957, 0.12560445519725358 ], [ 0.1326071429985724, 0.991168676677061 ], [ 0.9922778766521293, -0.12403473458151616 ] ] }, { "task_id": "0003974", "id": "RH20T_cfg3_task_0035_user_0010_scene_0009_cfg_0003_104122062823#188", "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'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003974/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9994301658818577, 0.03375416308194177 ], [ 0.0, -0.9999999989999999 ], [ 0.14660449027899142, 0.9891951897527794 ], [ 0.9996618234272558, 0.02600459155791533 ] ] }, { "task_id": "0003975", "id": "RH20T_cfg2_task_0126_user_0007_scene_0004_cfg_0002_105422061350#198", "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 cord from the surface'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003975/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.6372699307843382, -0.7706406654973021 ], [ 0.7071067806865474, 0.7071067806865474 ], [ -0.6832566252143276, -0.7301783234941502 ], [ -0.7471892946998262, 0.6646112832972189 ] ] }, { "task_id": "0003976", "id": "RH20T_cfg5_task_0222_user_0010_scene_0003_cfg_0005_104122063678#236", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'cover the pot with the lid', and now you are performing subtask 'pick up the lid from the countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003976/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7992202011621623, 0.6010383266101363 ], [ 0.8042254057067626, -0.5943244036852205 ], [ -0.6569192563990283, -0.7539609343806534 ], [ -0.7071067810198809, 0.7071067810198809 ] ] }, { "task_id": "0003979", "id": "RH20T_cfg2_task_0061_user_0007_scene_0001_cfg_0002_105422061350#243", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'take the big square out of the pink gift box and place it on the table, then take the small square and put it on the big square', and now you are performing subtask 'pick up the big block 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003979/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.09514072733676025, -0.9954638325935464 ], [ 0.9999999989999999, 0.0 ], [ -0.9997637789635456, 0.02173444898152999 ], [ 0.13487660483222708, 0.9908624028940302 ] ] }, { "task_id": "0003981", "id": "RH20T_cfg3_task_0006_user_0016_scene_0010_cfg_0003_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the small block from the right position to the left position', and now you are performing subtask 'push the small block from the right position to the left 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003981/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.8713278514562426, -0.4907013096341279 ], [ 0.37139067631962097, 0.9284766907990525 ], [ -0.26919889986977785, -0.9630846028822709 ], [ -0.8805379762331454, 0.47397560318146825 ] ] }, { "task_id": "0003982", "id": "RH20T_cfg4_task_0043_user_0007_scene_0001_cfg_0004_104122062823#267", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'unscrewing the lid from the jar', and now you are performing subtask 'twist the lid counterclockwise to unscrew 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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003982/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7091309954111955, 0.7050767556423394 ], [ -0.59999999996, 0.7999999999466667 ], [ 0.5310420601987544, -0.8473454610133121 ], [ -0.8607295876605305, -0.5090624489448551 ] ] }, { "task_id": "0003983", "id": "RH20T_cfg2_task_0033_user_0003_scene_0008_cfg_0002_037522062165#177", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'push the block onto the marked point', and now you are performing subtask 'push the block onto the mark'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003983/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.33602287127817604, 0.9418538262267508 ], [ 0.9702855360941897, 0.24196276252020887 ], [ 0.31447167628826067, -0.9492668564805428 ], [ -0.9486832977505137, -0.31622776591683793 ] ] }, { "task_id": "0003984", "id": "RH20T_cfg3_task_0016_user_0011_scene_0002_cfg_0003_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 the billiard 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003984/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9995594187503603, -0.029681111627467706 ], [ 0.11043152606265141, 0.9938837345638627 ], [ 0.04595906723295196, -0.9989433237872292 ], [ -0.9834730377443595, 0.18105464376779118 ] ] }, { "task_id": "0003985", "id": "RH20T_cfg2_task_0021_user_0003_scene_0002_cfg_0002_037522062165#417", "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 bottom of the desk lamp'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003985/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.44135253323606527, -0.8973337959790147 ], [ 0.8944271905999158, -0.4472135952999579 ], [ -0.9389657417663979, 0.34401066231888533 ], [ 0.5343624274044187, 0.8452554620814097 ] ] }, { "task_id": "0003986", "id": "RH20T_cfg3_task_0015_user_0010_scene_0002_cfg_0003_104122062823#231", "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": "B" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003986/image.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9691553174012989, -0.24645074711347015 ], [ 0.3713906762851382, -0.9284766907128456 ], [ -0.2646273625724806, 0.9643507447904693 ], [ 0.9637370409254173, 0.26685373512154653 ] ] }, { "task_id": "0003987", "id": "RH20T_cfg1_task_0070_user_0001_scene_0006_cfg_0001_038522062547#185", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'open a sliding window', and now you are performing subtask 'slide the handle of the window to open 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": "D" } ], "images": [ "Understanding/image/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003987/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.999949998593144, 0.010000015678551466 ], [ 0.04042077839573611, -0.9991827463852059 ], [ -0.9972309935801225, 0.07436629238574187 ], [ 0.0, 0.9999999995 ] ] }, { "task_id": "0003988", "id": "RH20T_cfg2_task_0072_user_0007_scene_0008_cfg_0002_105422061350#416", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'drop coins into a piggy bank, the coins fall onto the table', and now you are performing subtask 'pick up the coin from above the black object'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003988/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ -0.9984301019150167, -0.05601188793434425 ], [ 0.019992048173053212, 0.9998001390327201 ], [ 0.9987182443447293, -0.05061490307193599 ], [ 0.0, -0.9999999989999999 ] ] }, { "task_id": "0003989", "id": "RH20T_cfg2_task_0011_user_0013_scene_0003_cfg_0002_105422061350#273", "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 countertop'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003989/image.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.7071067809365474, 0.7071067809365474 ], [ 0.6274661915010068, -0.7786438072207484 ], [ -0.6541434048967548, -0.7563705479657972 ], [ -0.6395754026904859, 0.7687283683286983 ] ] }, { "task_id": "0003990", "id": "RH20T_cfg4_task_0215_user_0014_scene_0004_cfg_0004_104122062823#136", "task": "TrajDirectionChoice", "conversations": [ { "from": "human", "value": "\nThe robot task is 'chop the potatoes', and now you are performing subtask 'pick up the knife from the knife rack'. 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/train/rh20t/traj_direction_choice/traj_direction_choice/rh20t_0003990/image.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "dir_list": [ [ 0.9265832173806634, 0.3760898047920182 ], [ 0.3180555275805806, -0.9480720865922795 ], [ -0.9929681850831246, -0.11838151634746778 ], [ -0.2425356250216271, 0.9701425000865084 ] ] } ]