[ { "task_id": "0000000", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0009_cfg_0004_104422070011#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.approach and touch the side of the small block, B.sliding a black object behind the table, C.put the lid over the spray bottle, D.wipe the cloth on the plate and the table and then place it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000000.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.sliding a black object behind the table", "C.put the lid over the spray bottle", "D.wipe the cloth on the plate and the table and then place it on the table" ] }, { "task_id": "0000001", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0015_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press a button from top to bottom with obstacles, B.fold the shirt on the desk, C.take the gray towel from the glass bowl and place it on the table, D.grasping a block to push another block onto the black circle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000001.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom with obstacles", "B.fold the shirt on the desk", "C.take the gray towel from the glass bowl and place it on the table", "D.grasping a block to push another block onto the black circle" ] }, { "task_id": "0000002", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents of the furthermost cup into the blue bowl, B.move the basket to the right, C.put the ziplock bag in the bowl, D.pick up the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000002.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the furthermost cup into the blue bowl", "B.move the basket to the right", "C.put the ziplock bag in the bowl", "D.pick up the cup" ] }, { "task_id": "0000003", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0020_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bottle into the bag, B.approach and touch the side of the small block, C.put the object into the cup, D.throw the marker pen into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000003.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the bag", "B.approach and touch the side of the small block", "C.put the object into the cup", "D.throw the marker pen into the basket" ] }, { "task_id": "0000004", "task": "TrajChoice", "id": "RH20T_cfg2_task_0068_user_0014_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press a button horizontally with obstacles, B.put the block in the bowl, C.turn off the light switch on the right, D.take a bottle to pour something], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000004.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally with obstacles", "B.put the block in the bowl", "C.turn off the light switch on the right", "D.take a bottle to pour something" ] }, { "task_id": "0000005", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the transparent bowl from the packaging bag to the center area of the desktop, and then put it down, B.put the circular object on the shelf, C.take the pen out of the mug and put it on the table, D.press a key on the keyboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000005.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the transparent bowl from the packaging bag to the center area of the desktop, and then put it down", "B.put the circular object on the shelf", "C.take the pen out of the mug and put it on the table", "D.press a key on the keyboard" ] }, { "task_id": "0000006", "task": "TrajChoice", "id": "RH20T_cfg5_task_0090_user_0007_scene_0003_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the lid from the small pot and put it on the kitchen counter, B.press the button on the machine, C.approach and touch an object with obstacles, D.put the fork at the edge of the bowl on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000006.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the small pot and put it on the kitchen counter", "B.press the button on the machine", "C.approach and touch an object with obstacles", "D.put the fork at the edge of the bowl on the table" ] }, { "task_id": "0000007", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white cloth on the black stand, B.open the tap, C.put the object in the container, D.pick up a bag of things], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000007.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cloth on the black stand", "B.open the tap", "C.put the object in the container", "D.pick up a bag of things" ] }, { "task_id": "0000008", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.flick the switch on the extension cord, B.put the pen into the pen holder, C.remove the lid from the pot, D.sweeping a small block with the gripper from left to right on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000008.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flick the switch on the extension cord", "B.put the pen into the pen holder", "C.remove the lid from the pot", "D.sweeping a small block with the gripper from left to right on the table" ] }, { "task_id": "0000009", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.move the object to the pot, C.put a cup on the stack of cups, D.move the grey towel to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000009.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.move the object to the pot", "C.put a cup on the stack of cups", "D.move the grey towel to the left" ] }, { "task_id": "0000010", "task": "TrajChoice", "id": "RH20T_cfg4_task_0006_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the marker in the mug, B.pick up the cloth and put it back down, C.the operation of the object, D.use the gripper to push the small block from left to right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000010.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the marker in the mug", "B.pick up the cloth and put it back down", "C.the operation of the object", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0000012", "task": "TrajChoice", "id": "RH20T_cfg4_task_0065_user_0010_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the object from the table into the plastic bag, B.take the lid of the black pot and put it on the table, C.building with small Lego blocks, D.take a bottle out of the clear container on the left and put it on the purple placemat] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000012.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the table into the plastic bag", "B.take the lid of the black pot and put it on the table", "C.building with small Lego blocks", "D.take a bottle out of the clear container on the left and put it on the purple placemat" ] }, { "task_id": "0000013", "task": "TrajChoice", "id": "RH20T_cfg2_task_0051_user_0016_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the left door of the second upper cabinet from the left, B.move the drink can closer to the lamp, C.put the marker into the mug, D.take the dish off the dish rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000013.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the left door of the second upper cabinet from the left", "B.move the drink can closer to the lamp", "C.put the marker into the mug", "D.take the dish off the dish rack" ] }, { "task_id": "0000014", "task": "TrajChoice", "id": "RH20T_cfg1_task_0085_user_0001_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the brown box, B.press the pump on the bottle, C.remove the bubble ring from the assembled bubble ring and ball, D.put the marker on the table into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000014.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the brown box", "B.press the pump on the bottle", "C.remove the bubble ring from the assembled bubble ring and ball", "D.put the marker on the table into the bowl" ] }, { "task_id": "0000015", "task": "TrajChoice", "id": "RH20T_cfg1_task_0041_user_0001_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the soccer ball into the goal, B.turn off the first knob on the left, C.put the white napkin on the table, D.clean the tabletop with a sponge], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000015.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.turn off the first knob on the left", "C.put the white napkin on the table", "D.clean the tabletop with a sponge" ] }, { "task_id": "0000016", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the knob to decrease the volume of the speaker, B.pour the water from a cup into another empty cup, C.turn the switch on, D.put the black marker inside the silver pot], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000016.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.pour the water from a cup into another empty cup", "C.turn the switch on", "D.put the black marker inside the silver pot" ] }, { "task_id": "0000017", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the yellow pepper in the orange pan, B.place the cup on the table, C.approach and touch the side of the small block, D.rotate the button on the device clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000017.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow pepper in the orange pan", "B.place the cup on the table", "C.approach and touch the side of the small block", "D.rotate the button on the device clockwise" ] }, { "task_id": "0000018", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the marker from the mug, B.sweeping a small block from left to right on the table with a gripper, C.place the light blue cup in the sink, D.plug in the USB cable to the docking station] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000018.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.sweeping a small block from left to right on the table with a gripper", "C.place the light blue cup in the sink", "D.plug in the USB cable to the docking station" ] }, { "task_id": "0000019", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the black bowl into the sink, B.place the lid on the spray bottle, C.pull out the nearest chair, D.turn on the desk lamp by pressing the button] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000019.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black bowl into the sink", "B.place the lid on the spray bottle", "C.pull out the nearest chair", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000021", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the switch on the adapter, B.remove the glass lid from the white pot, C.plug in the power cord to the socket, D.move the toaster] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000021.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the adapter", "B.remove the glass lid from the white pot", "C.plug in the power cord to the socket", "D.move the toaster" ] }, { "task_id": "0000022", "task": "TrajChoice", "id": "RH20T_cfg1_task_0010_user_0014_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen in the bowl, B.pick up a bag of things and move it from the right side of the table to the left side of the table, C.move the green cloth to the right, D.place the handset of the telephone on the corresponding phone cradle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000022.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the bowl", "B.pick up a bag of things and move it from the right side of the table to the left side of the table", "C.move the green cloth to the right", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0000023", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0008_scene_0001_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the white spoon on top of the clear storage jar, B.press the left light switch, C.hang the white cloth on the black stand, D.push the soccer ball into the goal] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000023.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white spoon on top of the clear storage jar", "B.press the left light switch", "C.hang the white cloth on the black stand", "D.push the soccer ball into the goal" ] }, { "task_id": "0000024", "task": "TrajChoice", "id": "RH20T_cfg5_task_0104_user_0007_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the block stack from the table to the left, B.pour the contents of the clear jug into the bowl, C.put the pink bowl on top of the black bowl, D.drag the plate back after holding it down], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000024.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block stack from the table to the left", "B.pour the contents of the clear jug into the bowl", "C.put the pink bowl on top of the black bowl", "D.drag the plate back after holding it down" ] }, { "task_id": "0000025", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.iron the clothes, B.close the bottom drawer of the file cabinet, C.pick up the cloth, put down the cloth, D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000025.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.iron the clothes", "B.close the bottom drawer of the file cabinet", "C.pick up the cloth, put down the cloth", "D.put the toilet paper on its holder" ] }, { "task_id": "0000026", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button from top to bottom, B.transfer the box from the box to the shelf, C.move the ring on the desktop and place it on the tray, D.uncover the metal container and put the lid on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000026.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.transfer the box from the box to the shelf", "C.move the ring on the desktop and place it on the tray", "D.uncover the metal container and put the lid on the table" ] }, { "task_id": "0000027", "task": "TrajChoice", "id": "RH20T_cfg5_task_0018_user_0010_scene_0005_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.play jenga, B.take the right bottle from the table and put it in the clear bowl, C.put the juice box upright, D.close the open drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000027.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.take the right bottle from the table and put it in the clear bowl", "C.put the juice box upright", "D.close the open drawer" ] }, { "task_id": "0000028", "task": "TrajChoice", "id": "RH20T_cfg1_task_0044_user_0001_scene_0005_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the pen from the table to the transparent container, B.press the button atop the toaster oven, C.use the towel to wipe the counter, D.pick up a bag of things], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000028.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pen from the table to the transparent container", "B.press the button atop the toaster oven", "C.use the towel to wipe the counter", "D.pick up a bag of things" ] }, { "task_id": "0000029", "task": "TrajChoice", "id": "RH20T_cfg2_task_0050_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the dish on the dish rack, B.take the pencil out from the pencil sharpener, C.put the plush toy in the black bowl, D.move the squeeze bottle to the right of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000029.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the dish on the dish rack", "B.take the pencil out from the pencil sharpener", "C.put the plush toy in the black bowl", "D.move the squeeze bottle to the right of the table" ] }, { "task_id": "0000030", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wiping the table, B.put the toilet paper on its holder, C.push the object on the top layer of the shelf to the left, and then place the object from the bottom layer on the top layer, D.put the white and yellow bottle into the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000030.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the table", "B.put the toilet paper on its holder", "C.push the object on the top layer of the shelf to the left, and then place the object from the bottom layer on the top layer", "D.put the white and yellow bottle into the box" ] }, { "task_id": "0000032", "task": "TrajChoice", "id": "RH20T_cfg1_task_0084_user_0001_scene_0009_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the toilet paper on its holder, B.put the can in the paper bag, C.assemble: attach the bubble ring to the ball, D.put the tissue roll on the shelf] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000032.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the can in the paper bag", "C.assemble: attach the bubble ring to the ball", "D.put the tissue roll on the shelf" ] }, { "task_id": "0000033", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the handset of the telephone on the corresponding phone cradle, B.place the brush on the pen rack, C.put the dark green plate on the dish drainer in front of the light blue plate, D.take the marker out of the mug and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000033.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.place the brush on the pen rack", "C.put the dark green plate on the dish drainer in front of the light blue plate", "D.take the marker out of the mug and put it on the table" ] }, { "task_id": "0000034", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.moving the plate from the coffee machine to the table, B.put the toilet paper on its holder, C.finish setting up the starting position of a chessboard that is almost arranged, D.put the spoon on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000034.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the plate from the coffee machine to the table", "B.put the toilet paper on its holder", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.put the spoon on the table" ] }, { "task_id": "0000035", "task": "TrajChoice", "id": "RH20T_cfg1_task_0008_user_0001_scene_0005_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grab the block and place it at the designated location, B.put the rubber band on the cup, C.move the towel to the back of the chair, then move the towel back to the original position on the back of the chair, D.use the spatula to stir the contents in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000035.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.put the rubber band on the cup", "C.move the towel to the back of the chair, then move the towel back to the original position on the back of the chair", "D.use the spatula to stir the contents in the bowl" ] }, { "task_id": "0000036", "task": "TrajChoice", "id": "RH20T_cfg1_task_0038_user_0001_scene_0006_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the cup, B.pick the lid on the tray and put it on the pan, C.pour the contents from the red bowl into the yellow bowl, D.press the bag on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000036.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.pick the lid on the tray and put it on the pan", "C.pour the contents from the red bowl into the yellow bowl", "D.press the bag on the table" ] }, { "task_id": "0000037", "task": "TrajChoice", "id": "RH20T_cfg2_task_0077_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.stacking blocks (small Lego) randomly one at a time, B.pressing the button of the machine, C.move the bottle's cap to the table, D.put the black and white rings on the table into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000037.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks (small Lego) randomly one at a time", "B.pressing the button of the machine", "C.move the bottle's cap to the table", "D.put the black and white rings on the table into the basket" ] }, { "task_id": "0000038", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0014_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use a cloth to wipe the pan, B.turn on the desk lamp by pressing the button, C.pick up the towel and clean the door of the first top cabinet on the left, D.move the left bottle and the sponge closer to you, respectively], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000038.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a cloth to wipe the pan", "B.turn on the desk lamp by pressing the button", "C.pick up the towel and clean the door of the first top cabinet on the left", "D.move the left bottle and the sponge closer to you, respectively" ] }, { "task_id": "0000039", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0015_scene_0003_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the item with the masking tape, B.wiping the table with a towel, C.take out a Hanoi block and throw it aside, D.pick up the blue cup and put it in the orange cup] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000039.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the item with the masking tape", "B.wiping the table with a towel", "C.take out a Hanoi block and throw it aside", "D.pick up the blue cup and put it in the orange cup" ] }, { "task_id": "0000040", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.the rotation button, B.pull the tableware on the table, C.press the dishwasher switch button, D.move an object from one box to another] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000040.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the rotation button", "B.pull the tableware on the table", "C.press the dishwasher switch button", "D.move an object from one box to another" ] }, { "task_id": "0000041", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.taking out the light bulb by rotating it, B.fold the blue shirt, C.take a piece of tissue from the tissue box and put it on the left side of the table, D.open the lid of the bin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000041.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.taking out the light bulb by rotating it", "B.fold the blue shirt", "C.take a piece of tissue from the tissue box and put it on the left side of the table", "D.open the lid of the bin" ] }, { "task_id": "0000042", "task": "TrajChoice", "id": "RH20T_cfg1_task_0001_user_0005_scene_0009_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button from top to bottom, B.put the blue and white tube in the basket and then open the tap, C.put the marker in the pot, D.put the cloth on the purple mat], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000042.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.put the blue and white tube in the basket and then open the tap", "C.put the marker in the pot", "D.put the cloth on the purple mat" ] }, { "task_id": "0000043", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0004_cfg_0006_037522061512#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the toilet paper on its holder, B.remove the bubble ring from the assembled bubble ring and ball, C.press the button on the water dispenser, D.use the towel to sweep the things on the table to the left and then put the towel in the white container] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000043.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.remove the bubble ring from the assembled bubble ring and ball", "C.press the button on the water dispenser", "D.use the towel to sweep the things on the table to the left and then put the towel in the white container" ] }, { "task_id": "0000044", "task": "TrajChoice", "id": "RH20T_cfg1_task_0092_user_0015_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the marker from the green mug, B.put the orange metal object in the blue cup, C.put the green ball in the sink, D.turn the hands of a clock], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000044.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the green mug", "B.put the orange metal object in the blue cup", "C.put the green ball in the sink", "D.turn the hands of a clock" ] }, { "task_id": "0000045", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull up the lever, B.pour the contents in the orange cup into the black bowl, C.slide the towel on the table, D.pick up the fork and place it on the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000045.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull up the lever", "B.pour the contents in the orange cup into the black bowl", "C.slide the towel on the table", "D.pick up the fork and place it on the plate" ] }, { "task_id": "0000046", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.stack the three plastic cups, B.put the rubber band on the cup, C.pull the zipper of the clothes to the top, D.put the toilet paper on its holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000046.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the three plastic cups", "B.put the rubber band on the cup", "C.pull the zipper of the clothes to the top", "D.put the toilet paper on its holder" ] }, { "task_id": "0000047", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0002_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the cloth on the table to the right, B.grasp the handle and close the drawer, C.spread the clothes on the table, D.put the cup into the black clip] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000047.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the cloth on the table to the right", "B.grasp the handle and close the drawer", "C.spread the clothes on the table", "D.put the cup into the black clip" ] }, { "task_id": "0000048", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0004_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use a towel to wipe the table, B.pick up the object from the shelf and put it on the table, C.pick up the yellow cable and put it in the toolbox, D.put the toilet paper on its holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000048.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the table", "B.pick up the object from the shelf and put it on the table", "C.pick up the yellow cable and put it in the toolbox", "D.put the toilet paper on its holder" ] }, { "task_id": "0000049", "task": "TrajChoice", "id": "RH20T_cfg1_task_0086_user_0014_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the left cabinet door, B.dial a number on an old rotary phone, C.open the bottom drawer of the right cabinet, D.pick up the pen from the table and put it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000049.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the left cabinet door", "B.dial a number on an old rotary phone", "C.open the bottom drawer of the right cabinet", "D.pick up the pen from the table and put it in the bowl" ] }, { "task_id": "0000050", "task": "TrajChoice", "id": "RH20T_cfg1_task_0086_user_0014_scene_0006_cfg_0001_039422060546#153", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the tap nozzle counterclockwise, then open the tap, B.take the green block from the desktop and put it into the black bowl, C.move the object to the table, D.dial a number on an old rotary phone] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000050.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the tap nozzle counterclockwise, then open the tap", "B.take the green block from the desktop and put it into the black bowl", "C.move the object to the table", "D.dial a number on an old rotary phone" ] }, { "task_id": "0000051", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button from top to bottom, B.pick the lid from the table and put it on the pot, C.put the microwave on the left into the microwave, D.put the screwdriver in the drawer then close the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000051.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.pick the lid from the table and put it on the pot", "C.put the microwave on the left into the microwave", "D.put the screwdriver in the drawer then close the drawer" ] }, { "task_id": "0000052", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.scoop water with a large spoon from one bowl to another, B.pick up the pee plush toy from the pot and drop it in the sink, C.turn on the fourth switch, D.stack the cups together], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000052.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scoop water with a large spoon from one bowl to another", "B.pick up the pee plush toy from the pot and drop it in the sink", "C.turn on the fourth switch", "D.stack the cups together" ] }, { "task_id": "0000053", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.hit the pool ball, B.fold the towel on the table, C.put the green block in the bowl, D.close the open drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000053.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.fold the towel on the table", "C.put the green block in the bowl", "D.close the open drawer" ] }, { "task_id": "0000054", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up a small block, B.pressing down vertically on a black object, C.put the object in the bin, D.take the object down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000054.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.pressing down vertically on a black object", "C.put the object in the bin", "D.take the object down from the shelf" ] }, { "task_id": "0000055", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0013_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cylindrical Lego directly on the table, B.place the brush on the pen rack, C.press the button from top to bottom, D.move the bowl-like objects on the left side of the table to the content around the sink, and place them on the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000055.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cylindrical Lego directly on the table", "B.place the brush on the pen rack", "C.press the button from top to bottom", "D.move the bowl-like objects on the left side of the table to the content around the sink, and place them on the right side of the table" ] }, { "task_id": "0000056", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bottle with the orange lid from the stove and put it on the counter top then remove the wooden spoon from inside the left pot and put it on the pot, B.turn on the desk lamp by pressing the button, C.move the cloth to the left, D.pour the contents of the mug into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000056.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle with the orange lid from the stove and put it on the counter top then remove the wooden spoon from inside the left pot and put it on the pot", "B.turn on the desk lamp by pressing the button", "C.move the cloth to the left", "D.pour the contents of the mug into the bowl" ] }, { "task_id": "0000057", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grab the block and place it at the designated location, B.grasp the moving object, C.put the marker in the cup, D.pick up the paper on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000057.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.grasp the moving object", "C.put the marker in the cup", "D.pick up the paper on the table" ] }, { "task_id": "0000058", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0002_cfg_0003_104422070011#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take out the clip, B.place the handset of the telephone on the corresponding phone cradle, C.pick up the tongs, take the contents from the bowl and pour them into another bowl, D.remove the marker from the cup and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000058.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the clip", "B.place the handset of the telephone on the corresponding phone cradle", "C.pick up the tongs, take the contents from the bowl and pour them into another bowl", "D.remove the marker from the cup and put it on the table" ] }, { "task_id": "0000059", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the black clothing from the desk and place it on the backrest of the chair, B.take the bottle out of the bag and put it on the table, C.put the item in the cupboard, D.press the button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000059.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the black clothing from the desk and place it on the backrest of the chair", "B.take the bottle out of the bag and put it on the table", "C.put the item in the cupboard", "D.press the button from top to bottom" ] }, { "task_id": "0000060", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the towels from the chair and place them on the armrest, B.turn off the desk lamp by pressing the button, C.assemble one piece of a puzzle, D.close the tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000060.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the towels from the chair and place them on the armrest", "B.turn off the desk lamp by pressing the button", "C.assemble one piece of a puzzle", "D.close the tap" ] }, { "task_id": "0000063", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the side drawer to the left, B.assemble one piece of a puzzle, C.put the yellow patterned box and the orange patterned box in the black box, D.turn off the water tap] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000063.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the side drawer to the left", "B.assemble one piece of a puzzle", "C.put the yellow patterned box and the orange patterned box in the black box", "D.turn off the water tap" ] }, { "task_id": "0000064", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pulling the pot on the stove, B.pick up the marker and put it on the plate, C.slide the outer casing onto the gift box, D.put the marker on the green towel then wrap the marker in the towel and put it in the box] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000064.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pulling the pot on the stove", "B.pick up the marker and put it on the plate", "C.slide the outer casing onto the gift box", "D.put the marker on the green towel then wrap the marker in the towel and put it in the box" ] }, { "task_id": "0000065", "task": "TrajChoice", "id": "RH20T_cfg6_task_0009_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the orange Hanoi block and throw it onto the side table, B.put the things in the drawer, C.lay down the bottle, D.move the soccer ball from the table to the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000065.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange Hanoi block and throw it onto the side table", "B.put the things in the drawer", "C.lay down the bottle", "D.move the soccer ball from the table to the goal" ] }, { "task_id": "0000066", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.transfer the object from the table to the object, B.hit the pool ball, C.close the bottom drawer of the file cabinet, D.take out the transparent box from the dishwasher and place it on the countertop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000066.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the table to the object", "B.hit the pool ball", "C.close the bottom drawer of the file cabinet", "D.take out the transparent box from the dishwasher and place it on the countertop" ] }, { "task_id": "0000067", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the cup to the right, B.pour the contents of the mug into the stainless steel cup, C.remove the bubble ring from the assembled bubble ring and ball, D.put the bowl on the back side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000067.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.pour the contents of the mug into the stainless steel cup", "C.remove the bubble ring from the assembled bubble ring and ball", "D.put the bowl on the back side of the table" ] }, { "task_id": "0000069", "task": "TrajChoice", "id": "RH20T_cfg5_task_0090_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the object on the table, B.pull the handle of the right cabinet to open the cabinet door, C.push the block on the desk to the right, D.pick up one potato chip from the table and place it inside the bag], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000069.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the table", "B.pull the handle of the right cabinet to open the cabinet door", "C.push the block on the desk to the right", "D.pick up one potato chip from the table and place it inside the bag" ] }, { "task_id": "0000070", "task": "TrajChoice", "id": "RH20T_cfg7_task_0045_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the corn plush toy and put it on the left side of the table, B.place the brush on the pen rack, C.put the food into the microwave oven, D.turn off the first switch from the right] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000070.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the corn plush toy and put it on the left side of the table", "B.place the brush on the pen rack", "C.put the food into the microwave oven", "D.turn off the first switch from the right" ] }, { "task_id": "0000071", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0020_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the silver lid from the silver pot, move the faucet to the right, B.pick up the pen from the table and move it slightly to the right, C.pick the cloth off the object and put it on the table, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000071.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the silver lid from the silver pot, move the faucet to the right", "B.pick up the pen from the table and move it slightly to the right", "C.pick the cloth off the object and put it on the table", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000072", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the contents of the red cup on the table into the white bowl, B.grab the piece of paper and place it on the lid, then put the paper and the lid on the table, C.clean the table with a cloth, D.turn on the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000072.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the red cup on the table into the white bowl", "B.grab the piece of paper and place it on the lid, then put the paper and the lid on the table", "C.clean the table with a cloth", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000073", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slide the spout to the right, B.press the red button on the table, C.move the shelf to the right side of the bed, D.pick up the hand sanitizer and make it parallel] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000073.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the spout to the right", "B.press the red button on the table", "C.move the shelf to the right side of the bed", "D.pick up the hand sanitizer and make it parallel" ] }, { "task_id": "0000074", "task": "TrajChoice", "id": "RH20T_cfg2_task_0074_user_0014_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the grey bear in the bottom right corner of the table, B.put the tissue on the table, put the white cup on the tissue, C.put the white adapter on the floor, D.press the button horizontally], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000074.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the grey bear in the bottom right corner of the table", "B.put the tissue on the table, put the white cup on the tissue", "C.put the white adapter on the floor", "D.press the button horizontally" ] }, { "task_id": "0000075", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the bottom drawer of the file cabinet, B.put the orange block on top of the yellow one, C.turn on the desk lamp by pressing the button, D.open the right cabinet door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000075.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the file cabinet", "B.put the orange block on top of the yellow one", "C.turn on the desk lamp by pressing the button", "D.open the right cabinet door" ] }, { "task_id": "0000076", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn the knob to increase the volume of the speaker, B.remove the object from the scale, C.remove the marker from the cup and place it on the table, D.sliding puzzle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000076.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.remove the object from the scale", "C.remove the marker from the cup and place it on the table", "D.sliding puzzle" ] }, { "task_id": "0000077", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the garbage in the trash can, B.pick up the lid and close the jar, C.place the block on the scale, D.cover the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000077.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.pick up the lid and close the jar", "C.place the block on the scale", "D.cover the box" ] }, { "task_id": "0000078", "task": "TrajChoice", "id": "RH20T_cfg7_task_0013_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the block on the scale, B.put the lid on the white pot, C.place an orange disk on the wooden base, D.set the colourless cup upright], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000078.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.put the lid on the white pot", "C.place an orange disk on the wooden base", "D.set the colourless cup upright" ] }, { "task_id": "0000079", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the masking tape on the plate, B.put the green object in the black bowl, C.finish setting up the starting position of a chessboard that is almost arranged, D.place the handset of the telephone on the corresponding phone cradle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000079.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the masking tape on the plate", "B.put the green object in the black bowl", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0000080", "task": "TrajChoice", "id": "RH20T_cfg2_task_0048_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.rotate the steering wheel 90 degrees clockwise, B.fold the green towel, C.press the button on the wall, D.push the container backwards] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000080.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.fold the green towel", "C.press the button on the wall", "D.push the container backwards" ] }, { "task_id": "0000081", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0002_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.put the orange cup into the blue cup, C.pick up the blue cloth and put it on the chair, D.put the cup on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000081.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.put the orange cup into the blue cup", "C.pick up the blue cloth and put it on the chair", "D.put the cup on the table" ] }, { "task_id": "0000082", "task": "TrajChoice", "id": "RH20T_cfg2_task_0010_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the lid of the flask, B.open the top right cabinet door, C.place the handset of the telephone on the corresponding phone cradle, D.place the white object on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000082.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid of the flask", "B.open the top right cabinet door", "C.place the handset of the telephone on the corresponding phone cradle", "D.place the white object on the shelf" ] }, { "task_id": "0000083", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the switch on the machine down, B.pick the purple object and put it in the bowl, C.put the bowl in the bowl on the table, D.assemble: attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000083.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the machine down", "B.pick the purple object and put it in the bowl", "C.put the bowl in the bowl on the table", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0000084", "task": "TrajChoice", "id": "RH20T_cfg2_task_0053_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use a clamp, B.pick the gray object and move it to the left on the table, C.place the bottle on the right side of the sink's countertop, D.move the object from the left side of the table to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000084.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a clamp", "B.pick the gray object and move it to the left on the table", "C.place the bottle on the right side of the sink's countertop", "D.move the object from the left side of the table to the right side of the table" ] }, { "task_id": "0000085", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the kettle, B.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, C.pick up the toothpaste from the counter and put it in the container, D.move the white cloth and the floral cloth from the table to the box, and spread the black cloth on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000085.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the kettle", "B.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "C.pick up the toothpaste from the counter and put it in the container", "D.move the white cloth and the floral cloth from the table to the box, and spread the black cloth on the table" ] }, { "task_id": "0000086", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0014_scene_0003_cfg_0004_104122062823#240", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug and put it on the left side of the table, B.put the block in the drawer and close the drawer, C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, D.put the green cube in the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000086.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the left side of the table", "B.put the block in the drawer and close the drawer", "C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "D.put the green cube in the black bowl" ] }, { "task_id": "0000087", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wipe the table with a towel, B.transfer the cloth from the bed to the edge of the basket, C.place the box to the left of the original position, D.turn the faucet clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000087.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with a towel", "B.transfer the cloth from the bed to the edge of the basket", "C.place the box to the left of the original position", "D.turn the faucet clockwise" ] }, { "task_id": "0000088", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use a cloth to wipe the whiteboard, B.move the block, C.put the broccoli toy on the table, D.turn off the second switch from the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000088.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a cloth to wipe the whiteboard", "B.move the block", "C.put the broccoli toy on the table", "D.turn off the second switch from the left" ] }, { "task_id": "0000089", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the lid of the gift box to close the gift box, B.put the stack of bowls on the table, C.take the pink object from the pot and put it on the counter, D.place the cart in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000089.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lid of the gift box to close the gift box", "B.put the stack of bowls on the table", "C.take the pink object from the pot and put it on the counter", "D.place the cart in the bowl" ] }, { "task_id": "0000090", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the white cloth and put it on the black stand, B.put the orange object in the bowl, C.press the button from top to bottom, D.clean the table with a cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000090.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white cloth and put it on the black stand", "B.put the orange object in the bowl", "C.press the button from top to bottom", "D.clean the table with a cloth" ] }, { "task_id": "0000091", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up a black block from one side of the table and place it on the gray base plate, B.put the white bottle in the silver basin, C.move the black marker slightly to the left, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000091.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a black block from one side of the table and place it on the gray base plate", "B.put the white bottle in the silver basin", "C.move the black marker slightly to the left", "D.put the cup on the cup rack" ] }, { "task_id": "0000092", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker inside the cup, B.place the block on the scale, C.remove the salt shaker from the pot, D.push the cup to pick it up and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000092.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the cup", "B.place the block on the scale", "C.remove the salt shaker from the pot", "D.push the cup to pick it up and place it on the table" ] }, { "task_id": "0000093", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press a button horizontally, B.move the mug cup to the left, C.remove the black cup containing the marker and place it on the desk, D.unfold the leg of the glasses (with one hand)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000093.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally", "B.move the mug cup to the left", "C.remove the black cup containing the marker and place it on the desk", "D.unfold the leg of the glasses (with one hand)" ] }, { "task_id": "0000094", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the bottle into the bag, B.assemble: attach the bubble ring to the ball, C.put the yellow object in the open drawer, D.put the object into the open drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000094.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the bag", "B.assemble: attach the bubble ring to the ball", "C.put the yellow object in the open drawer", "D.put the object into the open drawer" ] }, { "task_id": "0000095", "task": "TrajChoice", "id": "RH20T_cfg6_task_0088_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the key on the table into the box, B.pick up the block above the table and transfer it to the table below, C.move the mug to the left, D.wiping the sofa with a towel by sliding it on the armrest of the sofa], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000095.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the key on the table into the box", "B.pick up the block above the table and transfer it to the table below", "C.move the mug to the left", "D.wiping the sofa with a towel by sliding it on the armrest of the sofa" ] }, { "task_id": "0000096", "task": "TrajChoice", "id": "RH20T_cfg5_task_0052_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the black lid from the white bottle to the table, B.grab a basketball, release it and shoot it into the basket, C.move the green object next to the cup, D.close the oven door] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000096.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black lid from the white bottle to the table", "B.grab a basketball, release it and shoot it into the basket", "C.move the green object next to the cup", "D.close the oven door" ] }, { "task_id": "0000097", "task": "TrajChoice", "id": "RH20T_cfg2_task_0078_user_0014_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the block on the table, B.slide the outer casing onto the gift box, C.move the yellow object to the right, D.close the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000097.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the table", "B.slide the outer casing onto the gift box", "C.move the yellow object to the right", "D.close the microwave door" ] }, { "task_id": "0000098", "task": "TrajChoice", "id": "RH20T_cfg6_task_0045_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the bottle out of the mug and put it on the table, B.place the brush on the pen rack, C.pick up the clothes from the headrest of the chair and put it on the box, D.take the green object from the desk and put it into the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000098.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bottle out of the mug and put it on the table", "B.place the brush on the pen rack", "C.pick up the clothes from the headrest of the chair and put it on the box", "D.take the green object from the desk and put it into the green bowl" ] }, { "task_id": "0000101", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the lid in the pot, B.put the marker inside the cup, C.wipe the table with a pink cloth, D.remove the object from the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000101.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid in the pot", "B.put the marker inside the cup", "C.wipe the table with a pink cloth", "D.remove the object from the scale" ] }, { "task_id": "0000102", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the pool ball hitting action, B.unfold the towel, C.folded shirt, D.put the lid on the tray], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000102.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the pool ball hitting action", "B.unfold the towel", "C.folded shirt", "D.put the lid on the tray" ] }, { "task_id": "0000103", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0009_cfg_0003_104122062823#247", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the cloth on the table, B.put the yellow pen on the printer, C.the pool ball hitting action, D.put the pen on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000103.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cloth on the table", "B.put the yellow pen on the printer", "C.the pool ball hitting action", "D.put the pen on the table" ] }, { "task_id": "0000104", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.moving the cup from the table to the plate, B.move the block from the table to the top of the stacked blocks and put it down, C.close the bottom drawer of the cabinet to the left, D.put the toilet paper on its holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000104.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the cup from the table to the plate", "B.move the block from the table to the top of the stacked blocks and put it down", "C.close the bottom drawer of the cabinet to the left", "D.put the toilet paper on its holder" ] }, { "task_id": "0000105", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the purple plushy on the table, B.move the gray doll to the left, C.rotate the steering wheel counterclockwise, D.push the small block from right to left with the gripper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000105.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the purple plushy on the table", "B.move the gray doll to the left", "C.rotate the steering wheel counterclockwise", "D.push the small block from right to left with the gripper" ] }, { "task_id": "0000107", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the blue object from the bowl to the tabletop, B.put the hanger from the laundry basket onto the sofa, C.put the marker from the black cup onto the table, D.put the dish on the dish rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000107.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue object from the bowl to the tabletop", "B.put the hanger from the laundry basket onto the sofa", "C.put the marker from the black cup onto the table", "D.put the dish on the dish rack" ] }, { "task_id": "0000108", "task": "TrajChoice", "id": "RH20T_cfg6_task_0085_user_0007_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bubble ring from the ball, B.put the plum in the white bowl, C.move the black grating on the left to the right, D.put the orange block on the left green block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000108.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the ball", "B.put the plum in the white bowl", "C.move the black grating on the left to the right", "D.put the orange block on the left green block" ] }, { "task_id": "0000109", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.assemble: attach the bubble ring to the ball, B.move the pot from the stove to the burner, C.move the towel to the back of the chair, then move the towel back to the original position on the back of the chair, D.move the cup to the edge], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000109.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.move the pot from the stove to the burner", "C.move the towel to the back of the chair, then move the towel back to the original position on the back of the chair", "D.move the cup to the edge" ] }, { "task_id": "0000110", "task": "TrajChoice", "id": "RH20T_cfg6_task_0009_user_0014_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the orange tool in the black bowl, B.move the glasses from the right side of the table to the left side of the table, C.stacking cups, D.throw the Hanoi block onto the surface] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000110.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange tool in the black bowl", "B.move the glasses from the right side of the table to the left side of the table", "C.stacking cups", "D.throw the Hanoi block onto the surface" ] }, { "task_id": "0000111", "task": "TrajChoice", "id": "RH20T_cfg5_task_0078_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green jar from the bowl onto the countertop, B.close the microwave door, C.put the dish on the dish rack, D.place the block on the block] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000111.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green jar from the bowl onto the countertop", "B.close the microwave door", "C.put the dish on the dish rack", "D.place the block on the block" ] }, { "task_id": "0000112", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0008_cfg_0005_036422060215#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the knife on the cutting board, B.place the block on the scale, C.close a sliding window, D.put the marker in the glass], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000112.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.place the block on the scale", "C.close a sliding window", "D.put the marker in the glass" ] }, { "task_id": "0000115", "task": "TrajChoice", "id": "RH20T_cfg5_task_0035_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.slide the green cloth to the left side of the countertop, B.move the first pie from the table and place it into the wooden box, C.take a pack of snacks from the counter and put it inside the big packet, D.pick up a small block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000115.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the green cloth to the left side of the countertop", "B.move the first pie from the table and place it into the wooden box", "C.take a pack of snacks from the counter and put it inside the big packet", "D.pick up a small block" ] }, { "task_id": "0000116", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull out a napkin, B.move the black eraser to the right, C.turn on the light, D.put the green pen in the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000116.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.move the black eraser to the right", "C.turn on the light", "D.put the green pen in the cup" ] }, { "task_id": "0000117", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour out the contents of the bowl, B.place the pot and the mat in the target position, C.gently push the small square, D.pick up one of the small bottles from the plastic container and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000117.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour out the contents of the bowl", "B.place the pot and the mat in the target position", "C.gently push the small square", "D.pick up one of the small bottles from the plastic container and put it on the table" ] }, { "task_id": "0000118", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup on the left side of the table, B.stacking blocks (small Lego) is done randomly one at a time, C.put the marker in the pot, D.move the shovel from the drawer to the stove] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000118.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the left side of the table", "B.stacking blocks (small Lego) is done randomly one at a time", "C.put the marker in the pot", "D.move the shovel from the drawer to the stove" ] }, { "task_id": "0000119", "task": "TrajChoice", "id": "RH20T_cfg5_task_0017_user_0010_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the white towel over the bottle on the left side of the counter, B.open the microwave door, remove the green bowl from the microwave and place it on the table, C.put the pen into the pen holder, D.press the power button of the rice cooker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000119.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the white towel over the bottle on the left side of the counter", "B.open the microwave door, remove the green bowl from the microwave and place it on the table", "C.put the pen into the pen holder", "D.press the power button of the rice cooker" ] }, { "task_id": "0000121", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the mug into the sink, B.hit the pool ball, C.assemble: attach the bubble ring to the ball, D.move the yellow cup to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000121.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the mug into the sink", "B.hit the pool ball", "C.assemble: attach the bubble ring to the ball", "D.move the yellow cup to the left" ] }, { "task_id": "0000122", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.fold the towel once, B.pour the contents of the cup into the sink, C.hit the pool ball, D.take the brown chicken out of the sink and place it on the stovetop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000122.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the towel once", "B.pour the contents of the cup into the sink", "C.hit the pool ball", "D.take the brown chicken out of the sink and place it on the stovetop" ] }, { "task_id": "0000123", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0001_cfg_0004_104122062823#181", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the bottle from the windowsill to the countertop, B.move the lid from the pot to the table, C.hit the pool ball, D.the mobile charger to the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000123.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle from the windowsill to the countertop", "B.move the lid from the pot to the table", "C.hit the pool ball", "D.the mobile charger to the cup" ] }, { "task_id": "0000124", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the toy to the bowl, B.turn on the desk lamp by pressing the button, C.press down on the handle of the toaster, D.move the blue cup from the table to the black bowl, and then put it down], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000124.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the toy to the bowl", "B.turn on the desk lamp by pressing the button", "C.press down on the handle of the toaster", "D.move the blue cup from the table to the black bowl, and then put it down" ] }, { "task_id": "0000125", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the fork to the right of the mug, B.move an object from one box to another, C.pick up the toothpaste from the counter and put it in the container, D.take the water bottle out of the box and place the water bottle on the tray] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000125.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the fork to the right of the mug", "B.move an object from one box to another", "C.pick up the toothpaste from the counter and put it in the container", "D.take the water bottle out of the box and place the water bottle on the tray" ] }, { "task_id": "0000126", "task": "TrajChoice", "id": "RH20T_cfg1_task_0124_user_0010_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the grey clothing from the white basket and hang it on the back of the chair, B.push down the lever, C.put the lid on the peanut butter bottle, D.put the tank in the transparent bowl] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000126.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the grey clothing from the white basket and hang it on the back of the chair", "B.push down the lever", "C.put the lid on the peanut butter bottle", "D.put the tank in the transparent bowl" ] }, { "task_id": "0000127", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the block on the scale, B.turn off the faucet, C.turn off the lamp, D.move the ball from the table into the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000127.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.turn off the faucet", "C.turn off the lamp", "D.move the ball from the table into the box" ] }, { "task_id": "0000128", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the hanger from the table to the hook, B.transfer the white plate from the dishwasher to the stack of plates on the table, C.pick up the small block on the left and move it to the right, D.take the black pen out of the grey bowl and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000128.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the hanger from the table to the hook", "B.transfer the white plate from the dishwasher to the stack of plates on the table", "C.pick up the small block on the left and move it to the right", "D.take the black pen out of the grey bowl and place it on the table" ] }, { "task_id": "0000129", "task": "TrajChoice", "id": "RH20T_cfg1_task_0072_user_0001_scene_0004_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.drop a coin into a piggy bank, B.move the carrot plush backward, C.put the blue cup in the yellow cup, D.press the lid of the kettle to close it], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000129.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.move the carrot plush backward", "C.put the blue cup in the yellow cup", "D.press the lid of the kettle to close it" ] }, { "task_id": "0000130", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the wooden spoon to the right side of the stove, B.turn the knob to increase the volume of the speaker, C.hang the blue mug in the sink on the washing rack, D.unfold the cloth on the desk], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000130.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the wooden spoon to the right side of the stove", "B.turn the knob to increase the volume of the speaker", "C.hang the blue mug in the sink on the washing rack", "D.unfold the cloth on the desk" ] }, { "task_id": "0000131", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the lid on the jar to the table, B.push the faucet to the right, C.place the gray block on the left side of the table, D.put the things in the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000131.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lid on the jar to the table", "B.push the faucet to the right", "C.place the gray block on the left side of the table", "D.put the things in the drawer" ] }, { "task_id": "0000132", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push and close the drawer, B.put the square block that is on the top of other blocks on the table, C.put the object on the top layer, D.turn on the last switch on the extension cord] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000132.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.put the square block that is on the top of other blocks on the table", "C.put the object on the top layer", "D.turn on the last switch on the extension cord" ] }, { "task_id": "0000133", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the drawer, B.put the toilet paper on its holder, C.push the soccer ball into the goal, D.take out a Hanoi block and throw it aside] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000133.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.put the toilet paper on its holder", "C.push the soccer ball into the goal", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0000134", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the drum, B.press the button on the right of the top of the oven, C.flip the transparent lid over on the table, D.pick the cloth from the back rest of the chair and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000134.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.press the button on the right of the top of the oven", "C.flip the transparent lid over on the table", "D.pick the cloth from the back rest of the chair and put it on the table" ] }, { "task_id": "0000135", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push a small block, B.remove two paper cups from the pile of paper cups on the right and put them on the table, C.rotating button, D.take the marker out of the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000135.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push a small block", "B.remove two paper cups from the pile of paper cups on the right and put them on the table", "C.rotating button", "D.take the marker out of the cup" ] }, { "task_id": "0000136", "task": "TrajChoice", "id": "RH20T_cfg5_task_0101_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the lid on the pot, B.take the lid from the table and put it on the pot that is near the white cup, C.move the yellow metal can to the left, D.clean the table with a cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000136.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.take the lid from the table and put it on the pot that is near the white cup", "C.move the yellow metal can to the left", "D.clean the table with a cloth" ] }, { "task_id": "0000137", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the book into the bowl on the cabinet top, B.press the button on the oven, C.put the bubble ring around the ball on the table, D.move the foam pack to the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000137.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the book into the bowl on the cabinet top", "B.press the button on the oven", "C.put the bubble ring around the ball on the table", "D.move the foam pack to the counter" ] }, { "task_id": "0000138", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the soccer ball into the goal, B.put the remote control and the white cloth on the pillow, C.assemble: attach the bubble ring to the ball, D.place the block on the black circle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000138.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.put the remote control and the white cloth on the pillow", "C.assemble: attach the bubble ring to the ball", "D.place the block on the black circle" ] }, { "task_id": "0000139", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0015_scene_0010_cfg_0001_750612070851#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use the gripper to push the small block from left to right, B.pick up the transparent container from the desktop and then pour the objects inside the container into the white bowl, C.push the basketball next to the right box, D.put the pen in the teal bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000139.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.pick up the transparent container from the desktop and then pour the objects inside the container into the white bowl", "C.push the basketball next to the right box", "D.put the pen in the teal bowl" ] }, { "task_id": "0000140", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the bottom left cupboard door, B.put the pen in the cup, C.take up the knife, D.unfold the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000140.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom left cupboard door", "B.put the pen in the cup", "C.take up the knife", "D.unfold the towel" ] }, { "task_id": "0000141", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.unfold a piece of paper that has been folded once with one end pressed down by a weight, B.move the purple and orange object one after the other from the black plate to the gray plate, C.hang the denim jacket over the backrest of the chair, D.stacking blocks (small Lego) is done randomly one at a time], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000141.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once with one end pressed down by a weight", "B.move the purple and orange object one after the other from the black plate to the gray plate", "C.hang the denim jacket over the backrest of the chair", "D.stacking blocks (small Lego) is done randomly one at a time" ] }, { "task_id": "0000142", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the paper towel forward, closer to the drying rack, B.put the straws inside the tea cup then put the cup and the side plate inside the top cupboard, C.unroll the paper towel roll, D.pick up a bag of things], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000142.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the paper towel forward, closer to the drying rack", "B.put the straws inside the tea cup then put the cup and the side plate inside the top cupboard", "C.unroll the paper towel roll", "D.pick up a bag of things" ] }, { "task_id": "0000143", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the Rubik's cube out of the drawer and place it on the table, B.take the pen from the desk and put it into the cup, C.put the clothes in the bag, D.pick up the small square block on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000143.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the Rubik's cube out of the drawer and place it on the table", "B.take the pen from the desk and put it into the cup", "C.put the clothes in the bag", "D.pick up the small square block on the table" ] }, { "task_id": "0000144", "task": "TrajChoice", "id": "RH20T_cfg4_task_0078_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.rest the small pillows against each other, B.close the microwave door, C.press the switch on the kettle, D.push an object with obstacles], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000144.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rest the small pillows against each other", "B.close the microwave door", "C.press the switch on the kettle", "D.push an object with obstacles" ] }, { "task_id": "0000145", "task": "TrajChoice", "id": "RH20T_cfg5_task_0017_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the red cup into the blue cup, B.put the pen into the pen holder, C.put the blocks into the bag, D.move the zip to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000145.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red cup into the blue cup", "B.put the pen into the pen holder", "C.put the blocks into the bag", "D.move the zip to the left" ] }, { "task_id": "0000146", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the cup to the left, B.move the stapler to the right, C.remove the chocolate bar from the sink and place it on the counter, D.place the handset of the telephone on the corresponding phone cradle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000146.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the left", "B.move the stapler to the right", "C.remove the chocolate bar from the sink and place it on the counter", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0000148", "task": "TrajChoice", "id": "RH20T_cfg4_task_0069_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the stacked blocks on the table, B.take the screwdriver out of the box and place it on the purple mat, C.assemble one piece of a puzzle, D.pick up the red object and put it on the bowl with the red lid] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000148.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the stacked blocks on the table", "B.take the screwdriver out of the box and place it on the purple mat", "C.assemble one piece of a puzzle", "D.pick up the red object and put it on the bowl with the red lid" ] }, { "task_id": "0000149", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push the soccer ball into the goal, B.rotate the knob on the far right of the first machine to the left, C.place the handset of the telephone on the corresponding phone cradle, D.unfold a green towel on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000149.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.rotate the knob on the far right of the first machine to the left", "C.place the handset of the telephone on the corresponding phone cradle", "D.unfold a green towel on the desk" ] }, { "task_id": "0000150", "task": "TrajChoice", "id": "RH20T_cfg2_task_0208_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.slice the lotus root, B.move the marker backwards, C.slide the closet door slightly to the right, D.turn on the right light switch], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000150.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slice the lotus root", "B.move the marker backwards", "C.slide the closet door slightly to the right", "D.turn on the right light switch" ] }, { "task_id": "0000151", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the lever, B.open the bag, C.move the transparent ring onto the table, D.stretch the white rope and fit it in the middle space of the object] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000151.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the lever", "B.open the bag", "C.move the transparent ring onto the table", "D.stretch the white rope and fit it in the middle space of the object" ] }, { "task_id": "0000152", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees clockwise, B.move the toy car on the desk, C.drag the plate back after holding it down, D.take the pen out of the bowl and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000152.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.move the toy car on the desk", "C.drag the plate back after holding it down", "D.take the pen out of the bowl and place it on the table" ] }, { "task_id": "0000153", "task": "TrajChoice", "id": "RH20T_cfg5_task_0078_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker into the bowl, B.take the watermelon plushie from the basket and put it in the black pot, C.remove the marker from the mug and place it on the table, D.close the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000153.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the bowl", "B.take the watermelon plushie from the basket and put it in the black pot", "C.remove the marker from the mug and place it on the table", "D.close the microwave door" ] }, { "task_id": "0000154", "task": "TrajChoice", "id": "RH20T_cfg1_task_0008_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the faucet to the center of the sink, B.grab the block and place it at the designated location, C.turn the switch of the microwave oven clockwise, D.remove the object from the tray and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000154.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the faucet to the center of the sink", "B.grab the block and place it at the designated location", "C.turn the switch of the microwave oven clockwise", "D.remove the object from the tray and put it on the table" ] }, { "task_id": "0000155", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the bottle from the bowl and put it on the table, B.put the orange object in the bowl, C.move the object to the specified location, D.approach and touch the side of the small block] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000155.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle from the bowl and put it on the table", "B.put the orange object in the bowl", "C.move the object to the specified location", "D.approach and touch the side of the small block" ] }, { "task_id": "0000156", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the salt shaker to the left of the blue bowl, B.place the wooden spoon on the pan, C.push the soccer ball into the goal, D.close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000156.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the salt shaker to the left of the blue bowl", "B.place the wooden spoon on the pan", "C.push the soccer ball into the goal", "D.close the drawer" ] }, { "task_id": "0000157", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the key on the keyboard, B.turn on the water tap, C.remove an egg from the carton box, D.put the photo frame on the bracket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000157.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the key on the keyboard", "B.turn on the water tap", "C.remove an egg from the carton box", "D.put the photo frame on the bracket" ] }, { "task_id": "0000158", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen into the pen holder, B.put the green can in the left sink, C.put the white book on top of the cabinet, D.pick up the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000158.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.put the green can in the left sink", "C.put the white book on top of the cabinet", "D.pick up the cup" ] }, { "task_id": "0000159", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the block in the bowl, B.pick up the white plate from the dishwasher and put it on the countertop, C.hold a small block with the gripper and sweep it from left to right on the table, D.play jenga] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000159.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block in the bowl", "B.pick up the white plate from the dishwasher and put it on the countertop", "C.hold a small block with the gripper and sweep it from left to right on the table", "D.play jenga" ] }, { "task_id": "0000160", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the ball in the bowl, B.place the cup from the coffee machine onto the countertop, C.bring the chocolate bar closer to the box, D.transfer the hanoi block from the red base to the tabletop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000160.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ball in the bowl", "B.place the cup from the coffee machine onto the countertop", "C.bring the chocolate bar closer to the box", "D.transfer the hanoi block from the red base to the tabletop" ] }, { "task_id": "0000161", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the microwave door, B.put the lid on the table, C.transferring the bell from the countertop to the pot, D.taking out the light bulb by rotating it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000161.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.put the lid on the table", "C.transferring the bell from the countertop to the pot", "D.taking out the light bulb by rotating it" ] }, { "task_id": "0000162", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the water in the cup into two silver pots, B.put the bag on the left side of the chair back, C.pick up a small block, D.put the remote control on the book] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000162.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water in the cup into two silver pots", "B.put the bag on the left side of the chair back", "C.pick up a small block", "D.put the remote control on the book" ] }, { "task_id": "0000163", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the spoon on the left side of the table, B.use a sponge to wipe the counter, C.put the knife on the cutting board, D.take the blue cloth from the laundry basket and put it on the couch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000163.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the spoon on the left side of the table", "B.use a sponge to wipe the counter", "C.put the knife on the cutting board", "D.take the blue cloth from the laundry basket and put it on the couch" ] }, { "task_id": "0000165", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the yellow object from the table and put it in the white bowl, B.move the bottle on the right side of the desk to the left side of the desk, C.place the small cube behind the box, D.take the lid off the bottle and put it on the tray] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000165.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the yellow object from the table and put it in the white bowl", "B.move the bottle on the right side of the desk to the left side of the desk", "C.place the small cube behind the box", "D.take the lid off the bottle and put it on the tray" ] }, { "task_id": "0000166", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.hitting the pool ball, B.put the cup on the right side of the table, C.take the carrot toy out of the pot and place it on the table, D.press the water dispenser button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000166.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hitting the pool ball", "B.put the cup on the right side of the table", "C.take the carrot toy out of the pot and place it on the table", "D.press the water dispenser button" ] }, { "task_id": "0000167", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the second drawer from the left, B.put the towel in the sink, C.put the glass cup onto the shelf, D.push the faucet to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000167.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the second drawer from the left", "B.put the towel in the sink", "C.put the glass cup onto the shelf", "D.push the faucet to the left" ] }, { "task_id": "0000168", "task": "TrajChoice", "id": "RH20T_cfg1_task_0104_user_0014_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the cup, B.drag the plate back after holding it down, C.put the capsule in the coffee machine, D.press the remote control button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000168.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.drag the plate back after holding it down", "C.put the capsule in the coffee machine", "D.press the remote control button" ] }, { "task_id": "0000169", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a small block, B.pick up the orange ring on the right and place it on the wooden stand, C.move the blue block to the back right, D.wipe the cover of the book with a serviette], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000169.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.pick up the orange ring on the right and place it on the wooden stand", "C.move the blue block to the back right", "D.wipe the cover of the book with a serviette" ] }, { "task_id": "0000170", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the white object from the left side of the countertop to the new position on the right side of the kitchen countertop, B.close the microwave, C.remove the yellow block from the orange plate and put it on the left side of the counter, D.pick up a bag of things] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000170.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white object from the left side of the countertop to the new position on the right side of the kitchen countertop", "B.close the microwave", "C.remove the yellow block from the orange plate and put it on the left side of the counter", "D.pick up a bag of things" ] }, { "task_id": "0000171", "task": "TrajChoice", "id": "RH20T_cfg3_task_0038_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button from top to bottom, B.pick up the cup, C.pick up the towel from the couch and put it in the box, D.put the spoon on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000171.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.pick up the cup", "C.pick up the towel from the couch and put it in the box", "D.put the spoon on the table" ] }, { "task_id": "0000172", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the bowl on the countertop into the sink, B.grasp the handle and close the drawer, C.move the light-green bowl to the left, D.move the wooden box to the front side of the shape sorting box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000172.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl on the countertop into the sink", "B.grasp the handle and close the drawer", "C.move the light-green bowl to the left", "D.move the wooden box to the front side of the shape sorting box" ] }, { "task_id": "0000173", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull the faucet handle upwards, B.drag the plate to the goal post after holding it down, C.close the drawer, D.unfold the towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000173.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the faucet handle upwards", "B.drag the plate to the goal post after holding it down", "C.close the drawer", "D.unfold the towel" ] }, { "task_id": "0000174", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the block on the block, B.swat with a flyswatter, C.shake the test tube, D.pick the towel and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000174.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the block", "B.swat with a flyswatter", "C.shake the test tube", "D.pick the towel and place it on the table" ] }, { "task_id": "0000175", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the plate from the oven onto the table, B.take the marker from the white cup and put it on the table, C.put a candy from the counter into the basket, D.press the red button on the orange base from top to bottom] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000175.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate from the oven onto the table", "B.take the marker from the white cup and put it on the table", "C.put a candy from the counter into the basket", "D.press the red button on the orange base from top to bottom" ] }, { "task_id": "0000176", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the cup on the table, B.replace the paper towel roll with the core on the stand, C.put the lid on the gift box, D.put the rubber band around the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000176.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup on the table", "B.replace the paper towel roll with the core on the stand", "C.put the lid on the gift box", "D.put the rubber band around the cup" ] }, { "task_id": "0000177", "task": "TrajChoice", "id": "RH20T_cfg1_task_0014_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the bread out of the cup, B.press the switch on the machine, C.installing a light bulb by rotating it, D.remove the object from the scale], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000177.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bread out of the cup", "B.press the switch on the machine", "C.installing a light bulb by rotating it", "D.remove the object from the scale" ] }, { "task_id": "0000178", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.move the keys to the left, C.sliding brush cleaning cloth, D.unfold a piece of paper that has been folded once (with one end weighed down)], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000178.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.move the keys to the left", "C.sliding brush cleaning cloth", "D.unfold a piece of paper that has been folded once (with one end weighed down)" ] }, { "task_id": "0000179", "task": "TrajChoice", "id": "RH20T_cfg1_task_0075_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the green bowl backward, B.finish setting up the starting position of a chessboard that is almost arranged, C.press the remote control button on the panel, D.cover the pot with the lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000179.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green bowl backward", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.press the remote control button on the panel", "D.cover the pot with the lid" ] }, { "task_id": "0000180", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the small ball from the bowl on the right side on the table, B.clean the tabletop with a sponge, C.put the yellow block on the table, D.put the book in the cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000180.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the small ball from the bowl on the right side on the table", "B.clean the tabletop with a sponge", "C.put the yellow block on the table", "D.put the book in the cabinet" ] }, { "task_id": "0000181", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the fabric softener into the soap chamber, B.take the cup off the cup rack, C.the folding tablecloth, D.place the pumpkin doll on the bowl and gently push it to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000181.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the fabric softener into the soap chamber", "B.take the cup off the cup rack", "C.the folding tablecloth", "D.place the pumpkin doll on the bowl and gently push it to the right" ] }, { "task_id": "0000182", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bottle from the left side of the sink to the right side, B.take the glue stick out of the cup and place it on the left side of the table, C.put the paper cup on the upper table, D.pull up the lever] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000182.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle from the left side of the sink to the right side", "B.take the glue stick out of the cup and place it on the left side of the table", "C.put the paper cup on the upper table", "D.pull up the lever" ] }, { "task_id": "0000183", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the pencil to the left side of the desk, B.remove the marker from the cup, C.push the soccer ball into the goal, D.pull the plastic container from the cabinet], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000183.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pencil to the left side of the desk", "B.remove the marker from the cup", "C.push the soccer ball into the goal", "D.pull the plastic container from the cabinet" ] }, { "task_id": "0000184", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the cabinet door, B.rotate the cup counterclockwise and lay it down, C.pick up a small block, D.hang the clothes on the back of the chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000184.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the cabinet door", "B.rotate the cup counterclockwise and lay it down", "C.pick up a small block", "D.hang the clothes on the back of the chair" ] }, { "task_id": "0000185", "task": "TrajChoice", "id": "RH20T_cfg6_task_0051_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bag in the open cabinet, B.place the bag on the right side of the first shelf, C.remove the sweatshirt from the backrest of the black chair, D.take the dish off the dish rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000185.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag in the open cabinet", "B.place the bag on the right side of the first shelf", "C.remove the sweatshirt from the backrest of the black chair", "D.take the dish off the dish rack" ] }, { "task_id": "0000186", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the block on the scale, B.put the white cup into the lowest of the white shelf, C.pick the marker and put it in the cup, D.place the lid on the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000186.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.put the white cup into the lowest of the white shelf", "C.pick the marker and put it in the cup", "D.place the lid on the pot" ] }, { "task_id": "0000187", "task": "TrajChoice", "id": "RH20T_cfg1_task_0124_user_0010_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the wet wipe on the table, B.push down the joystick, C.turn on the power strip by pressing the button, D.put the clothes from the bag on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000187.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the wet wipe on the table", "B.push down the joystick", "C.turn on the power strip by pressing the button", "D.put the clothes from the bag on the table" ] }, { "task_id": "0000188", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the pan and put it on the right side of the table, B.put the pillow upright against the arm rest, C.put the toilet paper on its holder, D.unfold a piece of paper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000188.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pan and put it on the right side of the table", "B.put the pillow upright against the arm rest", "C.put the toilet paper on its holder", "D.unfold a piece of paper" ] }, { "task_id": "0000189", "task": "TrajChoice", "id": "RH20T_cfg1_task_0044_user_0015_scene_0003_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the orange object and put it in the bowl, B.pick up a bag of things, C.put the marker in the mug, D.pick up the cable and put it in the toolbox] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000189.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange object and put it in the bowl", "B.pick up a bag of things", "C.put the marker in the mug", "D.pick up the cable and put it in the toolbox" ] }, { "task_id": "0000190", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the wooden cylinder off of the wooden block and place it onto the table, B.use the gripper to push and close the drawer, C.pick the blue ring and place it on the table, D.put the cup on the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000190.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the wooden cylinder off of the wooden block and place it onto the table", "B.use the gripper to push and close the drawer", "C.pick the blue ring and place it on the table", "D.put the cup on the cup rack" ] }, { "task_id": "0000191", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0012_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the white object from the plastic container, B.slide the cloth to the right on the desk, C.pick up the cup on the left, pour the water into the sink, then put the cup on the left side of the counter, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000191.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white object from the plastic container", "B.slide the cloth to the right on the desk", "C.pick up the cup on the left, pour the water into the sink, then put the cup on the left side of the counter", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0000192", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.reposition the duct tape, B.put the marker in the bowl, C.close the drawer, D.use the spatula to stir the water in the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000192.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.reposition the duct tape", "B.put the marker in the bowl", "C.close the drawer", "D.use the spatula to stir the water in the pot" ] }, { "task_id": "0000193", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the tank in the transparent bowl, B.place the mouse plush toy in the orange pot, C.put the things in the drawer, D.grab the block and place it at the designated location], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000193.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tank in the transparent bowl", "B.place the mouse plush toy in the orange pot", "C.put the things in the drawer", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000194", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0007_cfg_0002_105422061350#578", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the lid on the pot, B.put the things in the drawer, C.put the glue sticks from the cup onto the table, D.throw the shovel into the basket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000194.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.put the things in the drawer", "C.put the glue sticks from the cup onto the table", "D.throw the shovel into the basket" ] }, { "task_id": "0000195", "task": "TrajChoice", "id": "RH20T_cfg7_task_0048_user_0020_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.rotate the steering wheel clockwise, B.press a button from top to bottom with obstacles, C.drop coins into a piggy bank, the coins fall onto the table, D.remove the bubble ring from the assembled bubble ring and ball] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000195.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel clockwise", "B.press a button from top to bottom with obstacles", "C.drop coins into a piggy bank, the coins fall onto the table", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0000196", "task": "TrajChoice", "id": "RH20T_cfg2_task_0079_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.installing the light bulb by rotating it, B.stacking blocks (small Lego) one on top of the other every time, C.open the microwave door, D.put the pen in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000196.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.installing the light bulb by rotating it", "B.stacking blocks (small Lego) one on top of the other every time", "C.open the microwave door", "D.put the pen in the mug" ] }, { "task_id": "0000197", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen into the pen holder, B.take the black and white towels at the same time and put them on the black rod, C.put the purple sphere onto the blue box, D.push the door handle to the right to close the door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000197.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.take the black and white towels at the same time and put them on the black rod", "C.put the purple sphere onto the blue box", "D.push the door handle to the right to close the door" ] }, { "task_id": "0000198", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press down on the pump bottle, B.open a sliding window, C.stacking cups, D.put the knife on the cutting board], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000198.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press down on the pump bottle", "B.open a sliding window", "C.stacking cups", "D.put the knife on the cutting board" ] }, { "task_id": "0000199", "task": "TrajChoice", "id": "RH20T_cfg6_task_0053_user_0014_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use a clamp, B.move the block to the green block, C.remove the blue object from the dowel, D.open the microwave door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000199.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a clamp", "B.move the block to the green block", "C.remove the blue object from the dowel", "D.open the microwave door" ] }, { "task_id": "0000200", "task": "TrajChoice", "id": "RH20T_cfg1_task_0207_user_0010_scene_0006_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object with the corresponding shape into the corresponding hole, B.put the box in the cupboard on the bottommost shelf, C.move the green tennis ball from the cup to the table, D.chop the chili peppers] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000200.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object with the corresponding shape into the corresponding hole", "B.put the box in the cupboard on the bottommost shelf", "C.move the green tennis ball from the cup to the table", "D.chop the chili peppers" ] }, { "task_id": "0000201", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the lid on the jar, B.use the white napkin to wipe the countertop, C.close the oven door, D.use the gripper to push and close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000201.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the jar", "B.use the white napkin to wipe the countertop", "C.close the oven door", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0000202", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.scrubbing the table with a brush, B.take the green can out of the sink, C.pick the lid and put it on the tea pot, D.place the block on the scale] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000202.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.take the green can out of the sink", "C.pick the lid and put it on the tea pot", "D.place the block on the scale" ] }, { "task_id": "0000203", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the knob to increase the volume of the speaker, B.put the cup on the cup rack, C.switch off the toaster, D.put the cup on the other cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000203.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.put the cup on the cup rack", "C.switch off the toaster", "D.put the cup on the other cup" ] }, { "task_id": "0000204", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the white cup and pour its contents on the countertop, B.move the plush toy from the right side of the table to the left side of the table, C.push the soccer ball into the goal, D.move the white mug from left to right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000204.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white cup and pour its contents on the countertop", "B.move the plush toy from the right side of the table to the left side of the table", "C.push the soccer ball into the goal", "D.move the white mug from left to right" ] }, { "task_id": "0000205", "task": "TrajChoice", "id": "RH20T_cfg1_task_0043_user_0016_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the green cube inside the black bowl, B.rotate the bottle, C.pick up the cup, D.moving the pot from the stove to the countertop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000205.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green cube inside the black bowl", "B.rotate the bottle", "C.pick up the cup", "D.moving the pot from the stove to the countertop" ] }, { "task_id": "0000206", "task": "TrajChoice", "id": "RH20T_cfg4_task_0045_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the brush on the pen rack, B.move the yellow plate backwards, C.move the gray pot to the right, D.put the pen inside the bag on the chair], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000206.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.move the yellow plate backwards", "C.move the gray pot to the right", "D.put the pen inside the bag on the chair" ] }, { "task_id": "0000207", "task": "TrajChoice", "id": "RH20T_cfg5_task_0104_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the plate on one side of the table, B.clean the tabletop with a sponge, C.put the block in the basket, D.pick up the pencil from the countertop and move it to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000207.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on one side of the table", "B.clean the tabletop with a sponge", "C.put the block in the basket", "D.pick up the pencil from the countertop and move it to the left" ] }, { "task_id": "0000208", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the pineapple plush toy from the black pot and put it on the oven tray, B.push the drawer to close it, C.put the bottle into the bowl, D.put the apple in the stand] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000208.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pineapple plush toy from the black pot and put it on the oven tray", "B.push the drawer to close it", "C.put the bottle into the bowl", "D.put the apple in the stand" ] }, { "task_id": "0000209", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take something out of a drawer, B.put the orange object into the black bowl, C.pulling and sliding the rope on the table, moving the object to the right, D.remove the bubble ring from the assembled bubble ring and ball], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000209.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.put the orange object into the black bowl", "C.pulling and sliding the rope on the table, moving the object to the right", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0000210", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the switch of the dishwasher, B.stacking blocks (small Lego) one at a time randomly, C.throw the tissue on the counter in the trash bin, D.place the ball in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000210.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch of the dishwasher", "B.stacking blocks (small Lego) one at a time randomly", "C.throw the tissue on the counter in the trash bin", "D.place the ball in the bowl" ] }, { "task_id": "0000213", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the switch on the wall, B.chop the potatoes, C.take out a Hanoi block and throw it aside, D.put the marker inside the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000213.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch on the wall", "B.chop the potatoes", "C.take out a Hanoi block and throw it aside", "D.put the marker inside the cup" ] }, { "task_id": "0000214", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take off the lid of the black kettle and place it on the countertop, B.place the gloves to the left of the sink, C.turn the tap handle to the left slightly, D.put the object on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000214.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take off the lid of the black kettle and place it on the countertop", "B.place the gloves to the left of the sink", "C.turn the tap handle to the left slightly", "D.put the object on the shelf" ] }, { "task_id": "0000215", "task": "TrajChoice", "id": "RH20T_cfg4_task_0006_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup into the cup and put the cup on the upper shelf, B.pull out the drawer, C.make the mug cup lay, D.push the small block to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000215.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup into the cup and put the cup on the upper shelf", "B.pull out the drawer", "C.make the mug cup lay", "D.push the small block to the left" ] }, { "task_id": "0000216", "task": "TrajChoice", "id": "RH20T_cfg2_task_0208_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the microwave door, B.move the box to the left, C.make the bed, D.slice the lotus root] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000216.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.move the box to the left", "C.make the bed", "D.slice the lotus root" ] }, { "task_id": "0000217", "task": "TrajChoice", "id": "RH20T_cfg1_task_0208_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.slice the lotus root, B.turn the capsule holder clockwise, C.put the block on the right side of the table, D.move the box to the specified position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000217.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slice the lotus root", "B.turn the capsule holder clockwise", "C.put the block on the right side of the table", "D.move the box to the specified position" ] }, { "task_id": "0000218", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the bowl on the table and take out the things inside the bowl, B.the green towel on the folding table, C.insert the pencil into the pencil sharpener, D.move the measuring tape slightly to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000218.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bowl on the table and take out the things inside the bowl", "B.the green towel on the folding table", "C.insert the pencil into the pencil sharpener", "D.move the measuring tape slightly to the left" ] }, { "task_id": "0000219", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the black bottle to the left side of the desk, B.move the lid to the table, C.put the plastic cutlery on the cup, D.stacking blocks (small Lego) randomly one at a time], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000219.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black bottle to the left side of the desk", "B.move the lid to the table", "C.put the plastic cutlery on the cup", "D.stacking blocks (small Lego) randomly one at a time" ] }, { "task_id": "0000220", "task": "TrajChoice", "id": "RH20T_cfg5_task_0091_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press a button on the weighing machine on the table, B.move the block from the pink box to the blue box, C.pick up the pen and put it in the cup, D.put the tube lying on the countertop in the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000220.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button on the weighing machine on the table", "B.move the block from the pink box to the blue box", "C.pick up the pen and put it in the cup", "D.put the tube lying on the countertop in the drawer" ] }, { "task_id": "0000221", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the orange object into the black bowl, B.play the drum, C.open the lid of the kettle, D.move the silver lid to the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000221.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange object into the black bowl", "B.play the drum", "C.open the lid of the kettle", "D.move the silver lid to the counter" ] }, { "task_id": "0000222", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the cup, B.move the right slipper to the shoe rack on the right, C.move the blue towel from the table to the whiteboard and wipe, D.put the orange can in the sink on the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000222.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.move the right slipper to the shoe rack on the right", "C.move the blue towel from the table to the whiteboard and wipe", "D.put the orange can in the sink on the left" ] }, { "task_id": "0000223", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the ring onto the cylinder, B.swat with a flyswatter, C.pick up a purple bag, D.put the block into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000223.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ring onto the cylinder", "B.swat with a flyswatter", "C.pick up a purple bag", "D.put the block into the bowl" ] }, { "task_id": "0000224", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the toaster, B.pick up the cup, C.put the block into the box, D.sweep the candy to the left side of the table with a brush], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000224.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the toaster", "B.pick up the cup", "C.put the block into the box", "D.sweep the candy to the left side of the table with a brush" ] }, { "task_id": "0000225", "task": "TrajChoice", "id": "RH20T_cfg5_task_0052_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug, B.put the cup on the cup rack, C.insert the pencil into the pencil sharpener, D.grab a basketball, release it and shoot it into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000225.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.put the cup on the cup rack", "C.insert the pencil into the pencil sharpener", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0000226", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drag the plate back after holding it down, B.put the marker on the table into the pot, C.receive something handed over by a human, D.take the white bowl on the left from the desktop and place it on top of the toaster], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000226.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate back after holding it down", "B.put the marker on the table into the pot", "C.receive something handed over by a human", "D.take the white bowl on the left from the desktop and place it on top of the toaster" ] }, { "task_id": "0000227", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the roll of paper down from the shelf, B.move the bottle, C.put the green block inside the bowl, D.open a box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000227.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.move the bottle", "C.put the green block inside the bowl", "D.open a box" ] }, { "task_id": "0000228", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grasp the handle and open the drawer, B.put the orange block on the green block, C.place the green sphere into the cup, D.move the block from on top of the block to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000228.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.put the orange block on the green block", "C.place the green sphere into the cup", "D.move the block from on top of the block to the table" ] }, { "task_id": "0000230", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.stack the black bins together, B.put the block in the bowl, C.use the duster to wipe the right side of the whiteboard, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000230.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the black bins together", "B.put the block in the bowl", "C.use the duster to wipe the right side of the whiteboard", "D.remove the object from the scale" ] }, { "task_id": "0000231", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a small block, B.put the shovel from the container into the open drawer, C.pick up the marker and place it in the cup, D.take the green marker out of the blue bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000231.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.put the shovel from the container into the open drawer", "C.pick up the marker and place it in the cup", "D.take the green marker out of the blue bowl" ] }, { "task_id": "0000232", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the cup to the right, B.take out a Hanoi block and throw it aside, C.put the silver bowl on the tabletop, D.take the marker from the left side of the table and place it in the white cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000232.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.take out a Hanoi block and throw it aside", "C.put the silver bowl on the tabletop", "D.take the marker from the left side of the table and place it in the white cup" ] }, { "task_id": "0000233", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.clean the table with a cloth, B.zip up the jacket, C.reposition the top remote on the bottom one, D.remove the pen from the mug and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000233.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.zip up the jacket", "C.reposition the top remote on the bottom one", "D.remove the pen from the mug and put it on the table" ] }, { "task_id": "0000234", "task": "TrajChoice", "id": "RH20T_cfg6_task_0047_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the lid off the object and place it on the bowl, B.pull the white lid on the tote to close it, C.transfer the cup from the cup rack to another cup, D.transfer the brush from the frying pan to the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000234.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off the object and place it on the bowl", "B.pull the white lid on the tote to close it", "C.transfer the cup from the cup rack to another cup", "D.transfer the brush from the frying pan to the pot" ] }, { "task_id": "0000235", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the white towel from the black stand, B.remove the cup from the bowl, then put the bowl in the microwave, C.wiping the table, D.close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000235.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white towel from the black stand", "B.remove the cup from the bowl, then put the bowl in the microwave", "C.wiping the table", "D.close the drawer" ] }, { "task_id": "0000236", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the pens in the grey bowl, B.close the drawer on the left, C.holding a small block with the gripper and sweeping it from left to right on the table, D.take something out of a drawer] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000236.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pens in the grey bowl", "B.close the drawer on the left", "C.holding a small block with the gripper and sweeping it from left to right on the table", "D.take something out of a drawer" ] }, { "task_id": "0000237", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grasp the handle and close the drawer, B.move the right and left white shoes to the first shelf respectively, C.put the green object in the bowl on the shelf, D.take the coffee pod out of the box] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000237.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.move the right and left white shoes to the first shelf respectively", "C.put the green object in the bowl on the shelf", "D.take the coffee pod out of the box" ] }, { "task_id": "0000239", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the ring on the desk into the box, B.put the dish on the dish rack, C.remove the glass lid from the white pot, D.move the ball from the left side of the table and place it above the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000239.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the ring on the desk into the box", "B.put the dish on the dish rack", "C.remove the glass lid from the white pot", "D.move the ball from the left side of the table and place it above the plate" ] }, { "task_id": "0000240", "task": "TrajChoice", "id": "RH20T_cfg3_task_0067_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press a button from top to bottom with obstacles, B.wipe the wall with a towel, C.clean the table with a cloth, D.put the orange toy in the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000240.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom with obstacles", "B.wipe the wall with a towel", "C.clean the table with a cloth", "D.put the orange toy in the pot" ] }, { "task_id": "0000241", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull out the block, B.flick the switch on the machine on, C.put the book on the cushion, D.adjust the position of the picture hanging on the wall by pulling it to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000241.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out the block", "B.flick the switch on the machine on", "C.put the book on the cushion", "D.adjust the position of the picture hanging on the wall by pulling it to the right" ] }, { "task_id": "0000243", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the open drawer, B.place the lid on top of the pot, C.take the cup off the cup rack, D.hang the cloth on the object] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000243.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the open drawer", "B.place the lid on top of the pot", "C.take the cup off the cup rack", "D.hang the cloth on the object" ] }, { "task_id": "0000244", "task": "TrajChoice", "id": "RH20T_cfg6_task_0063_user_0007_scene_0003_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the dishwashing liquid from the sink and place it on the right side of the countertop, B.put the white jar in the aluminum bowl, C.use a shovel to scoop up an object, D.pull out the drawer and take out the object from the drawer, then close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000244.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the dishwashing liquid from the sink and place it on the right side of the countertop", "B.put the white jar in the aluminum bowl", "C.use a shovel to scoop up an object", "D.pull out the drawer and take out the object from the drawer, then close the drawer" ] }, { "task_id": "0000245", "task": "TrajChoice", "id": "RH20T_cfg6_task_0063_user_0007_scene_0003_cfg_0006_104122063633#304", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use a shovel to scoop up an object, B.open the oven door, C.transfer the item from the left side of the table to the right side of the table, D.put the bagged item to the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000245.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a shovel to scoop up an object", "B.open the oven door", "C.transfer the item from the left side of the table to the right side of the table", "D.put the bagged item to the left" ] }, { "task_id": "0000246", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0003_scene_0005_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use the gripper to push the small block from left to right, B.move the tissue to the specified position, C.take the drink can out of the third refrigerator door bin and put it in the second refrigerator door bin, D.turn off the second switch from the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000246.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.move the tissue to the specified position", "C.take the drink can out of the third refrigerator door bin and put it in the second refrigerator door bin", "D.turn off the second switch from the right" ] }, { "task_id": "0000247", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.pick up a chopstick from the right side of the countertop and place it inside the glass bowl on the left, C.pick up the small block on the left and move it to the right, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000247.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.pick up a chopstick from the right side of the countertop and place it inside the glass bowl on the left", "C.pick up the small block on the left and move it to the right", "D.place the block on the scale" ] }, { "task_id": "0000248", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the block to the specified position, B.place the green marker in the grey bowl, C.pull the zipper to the left, D.take the roll of paper down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000248.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block to the specified position", "B.place the green marker in the grey bowl", "C.pull the zipper to the left", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0000249", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the cutting board, B.remove the orange object from the pan, C.put the brown glass in front of the toaster, D.unfold the green cloth once], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000249.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.remove the orange object from the pan", "C.put the brown glass in front of the toaster", "D.unfold the green cloth once" ] }, { "task_id": "0000250", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the photo frame on the photo frame holder, B.pick up a small block, C.flip the light switch, D.pull the brown box out from underneath the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000250.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the photo frame on the photo frame holder", "B.pick up a small block", "C.flip the light switch", "D.pull the brown box out from underneath the cabinet" ] }, { "task_id": "0000251", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the blackboard eraser, wipe the whiteboard clean and put it down, B.put the brown paper box into the left plastic box, C.tap the small ball, D.pour the contents of the white pot into the adjacent black pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000251.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blackboard eraser, wipe the whiteboard clean and put it down", "B.put the brown paper box into the left plastic box", "C.tap the small ball", "D.pour the contents of the white pot into the adjacent black pot" ] }, { "task_id": "0000252", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the lid of the notebook to open the notebook, B.put the toilet paper on its holder, C.slide the towel to the left, D.wipe the countertop with a napkin and place it to the left of the countertop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000252.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lid of the notebook to open the notebook", "B.put the toilet paper on its holder", "C.slide the towel to the left", "D.wipe the countertop with a napkin and place it to the left of the countertop" ] }, { "task_id": "0000254", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick the cloth off the table and put it on the shelf, B.put the green bottle on the table, C.pick up the grey cloth and put it on top of the blue container, D.put the garbage in the trash can] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000254.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the cloth off the table and put it on the shelf", "B.put the green bottle on the table", "C.pick up the grey cloth and put it on top of the blue container", "D.put the garbage in the trash can" ] }, { "task_id": "0000255", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup on the cup, B.move the black plastic to the left then move it to the right, C.take the roll of paper down from the shelf, D.take the cup off the cup rack and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000255.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup", "B.move the black plastic to the left then move it to the right", "C.take the roll of paper down from the shelf", "D.take the cup off the cup rack and place it on the table" ] }, { "task_id": "0000256", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker on the table, B.close the lid of the box, C.unfold a piece of paper that has been folded once with one end pressed down by a weight, D.turn off the toaster], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000256.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the table", "B.close the lid of the box", "C.unfold a piece of paper that has been folded once with one end pressed down by a weight", "D.turn off the toaster" ] }, { "task_id": "0000257", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the first switch on the extension cord, B.open a box, C.move the pillow on the sofa, D.put the knife on the cutting board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000257.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the first switch on the extension cord", "B.open a box", "C.move the pillow on the sofa", "D.put the knife on the cutting board" ] }, { "task_id": "0000258", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the orange marker in the mug on the table, B.pick up the pen from the table and put it in the bowl, C.dial a number on an old rotary phone, D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000258.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange marker in the mug on the table", "B.pick up the pen from the table and put it in the bowl", "C.dial a number on an old rotary phone", "D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb" ] }, { "task_id": "0000259", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0001_cfg_0004_104122062823#212", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.fully close the cupboard, B.dial a number on an old rotary phone, C.turn on the second switch from the left on the extension cord, D.move the bottle from the shelf to the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000259.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fully close the cupboard", "B.dial a number on an old rotary phone", "C.turn on the second switch from the left on the extension cord", "D.move the bottle from the shelf to the counter" ] }, { "task_id": "0000260", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.put the toilet paper on its holder, C.open the drawer, put the pineapple plush toy in the drawer then close the drawer, D.move the clear bottle from the left side of the table to the right side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000260.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the toilet paper on its holder", "C.open the drawer, put the pineapple plush toy in the drawer then close the drawer", "D.move the clear bottle from the left side of the table to the right side of the table" ] }, { "task_id": "0000261", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the black tape on the plate, B.press the switch, C.flip over and spread out the paper that is laid flat on the table, D.move the mug to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000261.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black tape on the plate", "B.press the switch", "C.flip over and spread out the paper that is laid flat on the table", "D.move the mug to the right" ] }, { "task_id": "0000262", "task": "TrajChoice", "id": "RH20T_cfg4_task_0002_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.take the pen out of the white mug, C.insert the object into the black board, D.pick up the lid from the pot and put it on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000262.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.take the pen out of the white mug", "C.insert the object into the black board", "D.pick up the lid from the pot and put it on the counter" ] }, { "task_id": "0000263", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up a bag of things, B.transfer the towel from the back of the chair to the back of the rear chair, and then transfer it from the back of the rear chair to the back of the front chair, C.turn off the light with the string of the ceiling fan light, D.turn the knob to increase the volume of the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000263.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.transfer the towel from the back of the chair to the back of the rear chair, and then transfer it from the back of the rear chair to the back of the front chair", "C.turn off the light with the string of the ceiling fan light", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0000264", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.screw the lid onto the jar, B.remove the object from the scale, C.pick up the vial and put it in the transparent bowl, D.pick up the yellow block from the table and put it in the light blue cup] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000264.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.remove the object from the scale", "C.pick up the vial and put it in the transparent bowl", "D.pick up the yellow block from the table and put it in the light blue cup" ] }, { "task_id": "0000265", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pot lid on the table, B.put the cup on the cup rack, C.move the straw to the right, D.pour the contents of the transparent kettle into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000265.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pot lid on the table", "B.put the cup on the cup rack", "C.move the straw to the right", "D.pour the contents of the transparent kettle into the bowl" ] }, { "task_id": "0000266", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the silver object on the left side of the table and place it near the plant, B.place the bottle on the table into the container, C.build with large Megabloks for the nth time with n blocks, D.put the fork from the plate on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000266.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the silver object on the left side of the table and place it near the plant", "B.place the bottle on the table into the container", "C.build with large Megabloks for the nth time with n blocks", "D.put the fork from the plate on the table" ] }, { "task_id": "0000267", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#329", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.build with large Megabloks for the nth time with n blocks, B.put the lid of the pink box on the box, C.remove the marker from the mug and put it on the table, D.move the can to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000267.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.put the lid of the pink box on the box", "C.remove the marker from the mug and put it on the table", "D.move the can to the left" ] }, { "task_id": "0000268", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#451", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the coffee capsule on the coffee rack, B.build with large Megabloks for the nth time with n blocks, C.pull the rightmost cabinet door to the opened position, D.turn on the switch at the first from the bottom] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000268.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the coffee capsule on the coffee rack", "B.build with large Megabloks for the nth time with n blocks", "C.pull the rightmost cabinet door to the opened position", "D.turn on the switch at the first from the bottom" ] }, { "task_id": "0000269", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#602", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.throw the block onto the tray, B.build with large Megabloks for the nth time with n blocks, C.put the item in the drawer, close the drawer, D.place the handset of the telephone on the corresponding phone cradle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000269.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the block onto the tray", "B.build with large Megabloks for the nth time with n blocks", "C.put the item in the drawer, close the drawer", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0000270", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#756", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the object off the holder and place it on the table, B.press the light switch, C.build with large Megabloks for the nth time with n blocks, D.close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000270.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object off the holder and place it on the table", "B.press the light switch", "C.build with large Megabloks for the nth time with n blocks", "D.close the drawer" ] }, { "task_id": "0000271", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0006_cfg_0006_104122063633#904", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.build with large Megabloks for the nth time with n blocks, B.put the marker in the bowl, C.take the marker out of the white bowl and put it on the table, D.put the marker in the silver bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000271.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.put the marker in the bowl", "C.take the marker out of the white bowl and put it on the table", "D.put the marker in the silver bowl" ] }, { "task_id": "0000272", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the item on the table, B.pick up the cloth from the table and put it on the chair, C.remove the lid from the pot and place it on the table, D.put the toilet paper on its holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000272.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the item on the table", "B.pick up the cloth from the table and put it on the chair", "C.remove the lid from the pot and place it on the table", "D.put the toilet paper on its holder" ] }, { "task_id": "0000273", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the topmost drawer, B.approach and touch the side of the small block, C.move the object onto the table, D.pull open the trash can lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000273.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the topmost drawer", "B.approach and touch the side of the small block", "C.move the object onto the table", "D.pull open the trash can lid" ] }, { "task_id": "0000274", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the black bowl on top of the pink bowl, B.remove the pen from the plastic cup, C.lift the handle of the tap, D.cover the pot with the lid] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000274.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black bowl on top of the pink bowl", "B.remove the pen from the plastic cup", "C.lift the handle of the tap", "D.cover the pot with the lid" ] }, { "task_id": "0000275", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the red plushy from the basket and put it on the table, B.remove the lid from the blue bowl, C.press the button from top to bottom, D.moving the red object from the shelf to the black bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000275.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the red plushy from the basket and put it on the table", "B.remove the lid from the blue bowl", "C.press the button from top to bottom", "D.moving the red object from the shelf to the black bowl" ] }, { "task_id": "0000276", "task": "TrajChoice", "id": "RH20T_cfg4_task_0213_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the building blocks into the building block box, B.put the rope in the box, C.place the marker inside the mug, D.chop the orange], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000276.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the building blocks into the building block box", "B.put the rope in the box", "C.place the marker inside the mug", "D.chop the orange" ] }, { "task_id": "0000277", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the water from one cup into another empty cup, B.open the cabinet, C.open the curtain, D.take the orange object from the shelf and put it into the black bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000277.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.open the cabinet", "C.open the curtain", "D.take the orange object from the shelf and put it into the black bowl" ] }, { "task_id": "0000278", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the lid on the counter, B.put the pen in the bowl, C.move the green towel to the left, D.pour the contents of the first cup into the second cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000278.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the counter", "B.put the pen in the bowl", "C.move the green towel to the left", "D.pour the contents of the first cup into the second cup" ] }, { "task_id": "0000279", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the soccer ball into the goal, B.put the black screwdriver inside the open drawer then push the drawer closed, C.move the brush inside the silver thermos up and down, D.move the cup slightly to the center of the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000279.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.put the black screwdriver inside the open drawer then push the drawer closed", "C.move the brush inside the silver thermos up and down", "D.move the cup slightly to the center of the table" ] }, { "task_id": "0000281", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the green can in the black bowl, B.remove the pen from the cup and place it on the table, C.place the lid on the small pot, D.put the small Lego block on top of the building and press down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000281.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the green can in the black bowl", "B.remove the pen from the cup and place it on the table", "C.place the lid on the small pot", "D.put the small Lego block on top of the building and press down" ] }, { "task_id": "0000282", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the purple bag to the designated position, B.move the object slightly near the silver bowl, C.put the green marker inside the white and green mug, D.put the rope into the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000282.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the purple bag to the designated position", "B.move the object slightly near the silver bowl", "C.put the green marker inside the white and green mug", "D.put the rope into the box" ] }, { "task_id": "0000283", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.scrubbing the table with a brush, B.remove the lid from the silver pot and put it on the counter then push the faucet to the center of the sink, C.put the black marker inside the silver pot, D.put the black masking tape on the white plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000283.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.remove the lid from the silver pot and put it on the counter then push the faucet to the center of the sink", "C.put the black marker inside the silver pot", "D.put the black masking tape on the white plate" ] }, { "task_id": "0000284", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the green block from the table and put it in the black bowl, B.press a button horizontally with obstacles, C.move the red mug to the right side of the table, D.use the gripper to push the small block from left to right] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000284.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green block from the table and put it in the black bowl", "B.press a button horizontally with obstacles", "C.move the red mug to the right side of the table", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0000285", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the pencil out from the pencil sharpener, B.folding the towel, C.put the red object inside the empty blue bowl, D.pick up a small block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000285.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.folding the towel", "C.put the red object inside the empty blue bowl", "D.pick up a small block" ] }, { "task_id": "0000286", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the object into the bowl, B.turn on the power strip by pressing the button, C.move the orange marker slightly to the left, D.take the roll of paper down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000286.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.turn on the power strip by pressing the button", "C.move the orange marker slightly to the left", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0000288", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the ball in the bowl, B.put the green cup inside the orange cup, C.pick up a small block, D.open the right door of the first upper cabinet from the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000288.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ball in the bowl", "B.put the green cup inside the orange cup", "C.pick up a small block", "D.open the right door of the first upper cabinet from the left" ] }, { "task_id": "0000289", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the sock with green and white dots from the chair's headrest and place it inside the box, B.put a potato in the bowl, C.assemble: attach the bubble ring to the ball, D.put the fork and the spoon from the cup onto the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000289.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the sock with green and white dots from the chair's headrest and place it inside the box", "B.put a potato in the bowl", "C.assemble: attach the bubble ring to the ball", "D.put the fork and the spoon from the cup onto the table" ] }, { "task_id": "0000290", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toy into the bowl, B.drag the plate to the goal post after holding it down, C.place the shelf to the left side of the bed, D.turn the knob to increase the volume of the speaker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000290.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy into the bowl", "B.drag the plate to the goal post after holding it down", "C.place the shelf to the left side of the bed", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0000291", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup to the right, B.place the soap bottle on the lid, C.unfold the cloth on the table, D.put the object in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000291.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.place the soap bottle on the lid", "C.unfold the cloth on the table", "D.put the object in the bowl" ] }, { "task_id": "0000292", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.approach and touch the side of the small block, B.take the peg from the hanger and place it on the shirt, C.turn the remote control in the correct direction, D.remove the lid from the jar and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000292.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.take the peg from the hanger and place it on the shirt", "C.turn the remote control in the correct direction", "D.remove the lid from the jar and put it on the table" ] }, { "task_id": "0000293", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the white towel from the table and put it on the black tripod, B.put the clothes on the shelf onto the blanket, C.grab the block and place it at the designated location, D.place the black chess pieces on the chessboard], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000293.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white towel from the table and put it on the black tripod", "B.put the clothes on the shelf onto the blanket", "C.grab the block and place it at the designated location", "D.place the black chess pieces on the chessboard" ] }, { "task_id": "0000294", "task": "TrajChoice", "id": "RH20T_cfg7_task_0004_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the items in the bowl into the coffee machine, B.put the large block next to the two small blocks, C.place the banana plushie on the countertop, D.put the laundry basket on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000294.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items in the bowl into the coffee machine", "B.put the large block next to the two small blocks", "C.place the banana plushie on the countertop", "D.put the laundry basket on the shelf" ] }, { "task_id": "0000295", "task": "TrajChoice", "id": "RH20T_cfg4_task_0002_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the iron upright, B.open the cabinet, C.pull out a napkin, D.pick up a slice of bread from the glass bowl and put it in the toaster], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000295.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the iron upright", "B.open the cabinet", "C.pull out a napkin", "D.pick up a slice of bread from the glass bowl and put it in the toaster" ] }, { "task_id": "0000296", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the bubble ring from the assembled bubble ring and ball, B.put the kettle on the shelf, C.turn the hands of a clock, D.move the bottle to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000296.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.put the kettle on the shelf", "C.turn the hands of a clock", "D.move the bottle to the right" ] }, { "task_id": "0000297", "task": "TrajChoice", "id": "RH20T_cfg2_task_0019_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the first cloth and place it on the table, wipe the table, pick up the second cloth, B.push the left switch downwards, C.put the sachets from the countertop and put them in the box, D.play the first move as black on the 3-4 point in the upper right corner of the Go board] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000297.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the first cloth and place it on the table, wipe the table, pick up the second cloth", "B.push the left switch downwards", "C.put the sachets from the countertop and put them in the box", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0000298", "task": "TrajChoice", "id": "RH20T_cfg6_task_0051_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the dish off the dish rack, B.pick up the black machine on the desk, move it to the top of the left shelf on the desk, and then put it down, C.put the towel on the right side of the desk, D.drop down the switch button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000298.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.pick up the black machine on the desk, move it to the top of the left shelf on the desk, and then put it down", "C.put the towel on the right side of the desk", "D.drop down the switch button" ] }, { "task_id": "0000299", "task": "TrajChoice", "id": "RH20T_cfg1_task_0083_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the block from the block to the top of the block, B.swat with a flyswatter, C.slide the grey towel slightly to the left, D.pressing the keycap on the keyboard], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000299.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block from the block to the top of the block", "B.swat with a flyswatter", "C.slide the grey towel slightly to the left", "D.pressing the keycap on the keyboard" ] }, { "task_id": "0000300", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the lid from the pot and place it on the table, B.take the orange Hanoi block off the shelf and place it on the table, C.stacking blocks, D.press the red button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000300.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the pot and place it on the table", "B.take the orange Hanoi block off the shelf and place it on the table", "C.stacking blocks", "D.press the red button" ] }, { "task_id": "0000301", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.clean the table with a cloth, B.take the marker from the table and put it in the white cup, C.push the faucet handle up, D.close the flask] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000301.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.take the marker from the table and put it in the white cup", "C.push the faucet handle up", "D.close the flask" ] }, { "task_id": "0000302", "task": "TrajChoice", "id": "RH20T_cfg4_task_0215_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn on the desk lamp by pressing the button, B.put the object from the plane into the pot, C.chop the potatoes, D.move the faucet handle upwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000302.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.put the object from the plane into the pot", "C.chop the potatoes", "D.move the faucet handle upwards" ] }, { "task_id": "0000303", "task": "TrajChoice", "id": "RH20T_cfg5_task_0085_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.play the drum, B.put the building blocks into the green bowl, C.pour the water from one cup into another empty cup, D.remove the bubble ring from the assembled bubble ring and ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000303.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.put the building blocks into the green bowl", "C.pour the water from one cup into another empty cup", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0000304", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.play jenga, B.move the plate from the center of the right side table to the left side of the right side table, C.take the pencil out from the pencil sharpener, D.remove the object from the scale and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000304.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.move the plate from the center of the right side table to the left side of the right side table", "C.take the pencil out from the pencil sharpener", "D.remove the object from the scale and place it on the table" ] }, { "task_id": "0000305", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.lift the top of the coffee maker, B.push the drawer to close the drawer, C.turn on the water tap, D.put the brown donut on the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000305.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lift the top of the coffee maker", "B.push the drawer to close the drawer", "C.turn on the water tap", "D.put the brown donut on the plate" ] }, { "task_id": "0000306", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the clear bowl inside the white saucepan, B.take everything out of the gift box, C.close the cabinet door and take the yellow object from the top to the second layer, D.turn off the light], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000306.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the clear bowl inside the white saucepan", "B.take everything out of the gift box", "C.close the cabinet door and take the yellow object from the top to the second layer", "D.turn off the light" ] }, { "task_id": "0000307", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#166", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the upper cabinet door on the right, B.take everything out of the gift box, C.move the small block on the desktop to the left, D.put the gray block on the green block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000307.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the upper cabinet door on the right", "B.take everything out of the gift box", "C.move the small block on the desktop to the left", "D.put the gray block on the green block" ] }, { "task_id": "0000308", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0005_cfg_0004_104122062823#264", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take everything out of the gift box, B.move an object from one box to another, C.shake the white bag, D.put the spoon above the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000308.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.move an object from one box to another", "C.shake the white bag", "D.put the spoon above the cup" ] }, { "task_id": "0000309", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cup on the table, B.remove the seasoning bottle from the pot and put it on the table, C.pick up a bag of things, D.pulling the rubber band], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000309.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the table", "B.remove the seasoning bottle from the pot and put it on the table", "C.pick up a bag of things", "D.pulling the rubber band" ] }, { "task_id": "0000311", "task": "TrajChoice", "id": "RH20T_cfg4_task_0022_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up a small block, B.wave the flag, C.put the pen on the table, D.put the packet inside the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000311.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.wave the flag", "C.put the pen on the table", "D.put the packet inside the sink" ] }, { "task_id": "0000312", "task": "TrajChoice", "id": "RH20T_cfg4_task_0026_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the lid on the pot, B.put the pen on the desk into the box, C.use the gripper to push and close the drawer, D.turn on the white object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000312.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.put the pen on the desk into the box", "C.use the gripper to push and close the drawer", "D.turn on the white object" ] }, { "task_id": "0000313", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the cup into the box, B.slide the lid on the wooden toy box to the right, C.wave the flag, D.turn off the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000313.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup into the box", "B.slide the lid on the wooden toy box to the right", "C.wave the flag", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0000314", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the clip to the right, B.place the jar into the bowl, C.remove the bubble ring from the assembled bubble ring and ball and place the bubble ring to one side of the table, D.press a button from top to bottom with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000314.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clip to the right", "B.place the jar into the bowl", "C.remove the bubble ring from the assembled bubble ring and ball and place the bubble ring to one side of the table", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0000315", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the light switch, B.grasp the block on the shovel, C.hang the cloth on the stand, D.unfold the towel], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000315.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light switch", "B.grasp the block on the shovel", "C.hang the cloth on the stand", "D.unfold the towel" ] }, { "task_id": "0000316", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.shift the garment to the right then use the spoon to stir the contents of the bowl, B.hang the cloth on the stand, C.pour the contents in the basket onto the countertop, D.take the pencil out from the pencil sharpener] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000316.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.shift the garment to the right then use the spoon to stir the contents of the bowl", "B.hang the cloth on the stand", "C.pour the contents in the basket onto the countertop", "D.take the pencil out from the pencil sharpener" ] }, { "task_id": "0000317", "task": "TrajChoice", "id": "RH20T_cfg4_task_0047_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the microwave door, B.move the yellow block to the left then to the right, C.take the cup off the cup rack, D.place the ball in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000317.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.move the yellow block to the left then to the right", "C.take the cup off the cup rack", "D.place the ball in the bowl" ] }, { "task_id": "0000318", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the black square on the table onto another square, B.put the green packaging in the sink on the left, C.turn off the water tap, D.move the yellow block to the front left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000318.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black square on the table onto another square", "B.put the green packaging in the sink on the left", "C.turn off the water tap", "D.move the yellow block to the front left" ] }, { "task_id": "0000319", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grasp the handle and close the drawer, B.press a button on the remote, C.place the handset of the telephone on the corresponding phone cradle, D.transfer the black ball from the table to the green bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000319.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.press a button on the remote", "C.place the handset of the telephone on the corresponding phone cradle", "D.transfer the black ball from the table to the green bowl" ] }, { "task_id": "0000320", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the things in the pot into the pot, B.turn on the desk lamp by pressing the button, C.put the paper in the sink, D.move the block to the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000320.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the things in the pot into the pot", "B.turn on the desk lamp by pressing the button", "C.put the paper in the sink", "D.move the block to the right side of the table" ] }, { "task_id": "0000321", "task": "TrajChoice", "id": "RH20T_cfg4_task_0065_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.build with small Lego blocks for the nth time with n blocks, B.press the switch on the left side of the wall to turn on the light, C.holding a small block to push another small block to the designated position, D.move the book] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000321.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with small Lego blocks for the nth time with n blocks", "B.press the switch on the left side of the wall to turn on the light", "C.holding a small block to push another small block to the designated position", "D.move the book" ] }, { "task_id": "0000322", "task": "TrajChoice", "id": "RH20T_cfg4_task_0065_user_0010_scene_0002_cfg_0004_104122062823#219", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the yellow object from the pan and put it on the table, B.grab the block and place it on the cardboard, C.build with small Lego blocks for the nth time with n blocks, D.take the roll of paper from the paper rack and place the roll of paper on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000322.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the yellow object from the pan and put it on the table", "B.grab the block and place it on the cardboard", "C.build with small Lego blocks for the nth time with n blocks", "D.take the roll of paper from the paper rack and place the roll of paper on the table" ] }, { "task_id": "0000323", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the object from the scale, B.grab the block and place it at the designated location, C.put the cup on the right side of the table, slide the plate to the left, D.wipe the table with a towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000323.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.grab the block and place it at the designated location", "C.put the cup on the right side of the table, slide the plate to the left", "D.wipe the table with a towel" ] }, { "task_id": "0000324", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bottle to the left side of the table, B.move the objects on the table to the windowsill, C.place the handset of the telephone on the corresponding phone cradle, D.turn off the switch on the electric kettle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000324.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle to the left side of the table", "B.move the objects on the table to the windowsill", "C.place the handset of the telephone on the corresponding phone cradle", "D.turn off the switch on the electric kettle" ] }, { "task_id": "0000325", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.wipe the whiteboard, B.move the blanket to the right, C.transfer the small wooden block from the scale to the table, D.take the pen out of the black mug] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000325.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the whiteboard", "B.move the blanket to the right", "C.transfer the small wooden block from the scale to the table", "D.take the pen out of the black mug" ] }, { "task_id": "0000326", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button from top to bottom, B.move the basket from the left side to the right side, C.move the silver cup to the right of the counter, then put it back in its original place, D.take the measuring tape toy out of the toolbox and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000326.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.move the basket from the left side to the right side", "C.move the silver cup to the right of the counter, then put it back in its original place", "D.take the measuring tape toy out of the toolbox and put it on the table" ] }, { "task_id": "0000327", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.clean the table with a cloth, B.move the remote control from the pillow to the bed, move the white towel from the bed to the pillow, C.transfer the marker from the cup to the table, D.put the object in the box on the blue object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000327.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.move the remote control from the pillow to the bed, move the white towel from the bed to the pillow", "C.transfer the marker from the cup to the table", "D.put the object in the box on the blue object" ] }, { "task_id": "0000328", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the plush toy out of the pot, B.take the tape down from the shelf to the table, C.get the bottle with the white lid from the table and place it on the black box, D.put the toilet paper on its holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000328.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the plush toy out of the pot", "B.take the tape down from the shelf to the table", "C.get the bottle with the white lid from the table and place it on the black box", "D.put the toilet paper on its holder" ] }, { "task_id": "0000329", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button on the white base of the green key, B.move the cube toy to the top, C.turn the knob to decrease the volume of the speaker, D.take the lid off the pot and put it on the stove], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000329.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the white base of the green key", "B.move the cube toy to the top", "C.turn the knob to decrease the volume of the speaker", "D.take the lid off the pot and put it on the stove" ] }, { "task_id": "0000330", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the small block on the left and move it to the right, B.place the black marker inside the white mug, C.adjust the volume of the speaker by turning the knob, D.turn the faucet to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000330.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.place the black marker inside the white mug", "C.adjust the volume of the speaker by turning the knob", "D.turn the faucet to the right" ] }, { "task_id": "0000331", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the desk lamp by pressing the button, B.move the shoes slightly to the left, C.place the object in the box, D.put the meat grinder blade inside the meat grinder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000331.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.move the shoes slightly to the left", "C.place the object in the box", "D.put the meat grinder blade inside the meat grinder" ] }, { "task_id": "0000332", "task": "TrajChoice", "id": "RH20T_cfg3_task_0048_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.rotate the steering wheel 90 degrees clockwise, B.put the marker on the table, C.pick up the toy from the sink and put it on the stove, D.pick up one end of the electric cord and drop it off the right edge of the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000332.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.put the marker on the table", "C.pick up the toy from the sink and put it on the stove", "D.pick up one end of the electric cord and drop it off the right edge of the table" ] }, { "task_id": "0000333", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.taking out the light bulb by rotating it, B.press the keyboard key, C.approach and touch the side of the small block, D.pick up the tissue from the bottle and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000333.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.taking out the light bulb by rotating it", "B.press the keyboard key", "C.approach and touch the side of the small block", "D.pick up the tissue from the bottle and put it on the table" ] }, { "task_id": "0000334", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the laptop, B.place the bowl on the right side of the table, C.flip the paper over to the other side, D.pick the lid on the table and put it on the kettle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000334.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the laptop", "B.place the bowl on the right side of the table", "C.flip the paper over to the other side", "D.pick the lid on the table and put it on the kettle" ] }, { "task_id": "0000335", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the cup to the left, B.place the brush on the pen rack, C.press the left button on the computer mouse, D.pick the marker from the bowl and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000335.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the left", "B.place the brush on the pen rack", "C.press the left button on the computer mouse", "D.pick the marker from the bowl and put it on the table" ] }, { "task_id": "0000336", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the lunchbox to the left, B.plug in the usb drive to the docking station, C.pick up the small block on the left and move it to the right, D.take the marker out of the mug and place it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000336.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the lunchbox to the left", "B.plug in the usb drive to the docking station", "C.pick up the small block on the left and move it to the right", "D.take the marker out of the mug and place it on the table" ] }, { "task_id": "0000337", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0002_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the toothbrush from the toothbrush holder and put it on the base top to the right side, B.pick up the cap from the coat hook and place it on the table, C.transfer the bottle from the pot to the table, D.slide the block on the cardboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000337.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the toothbrush from the toothbrush holder and put it on the base top to the right side", "B.pick up the cap from the coat hook and place it on the table", "C.transfer the bottle from the pot to the table", "D.slide the block on the cardboard" ] }, { "task_id": "0000338", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the microwave door, B.move the green towel forward, C.put the object on the shelf, D.turn the knob to decrease the volume of the speaker], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000338.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.move the green towel forward", "C.put the object on the shelf", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0000339", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the paper glue from the table and put it in the cup, B.finish setting up the starting position of a chessboard that is almost arranged, C.pick up the black object from the table and put it in the bin, D.get the marker from the table and place it in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000339.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the paper glue from the table and put it in the cup", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.pick up the black object from the table and put it in the bin", "D.get the marker from the table and place it in the bowl" ] }, { "task_id": "0000340", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the orange marker to the left, B.put the marker in the bowl, C.take the roll of paper down from the shelf, D.put the block into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000340.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the orange marker to the left", "B.put the marker in the bowl", "C.take the roll of paper down from the shelf", "D.put the block into the bowl" ] }, { "task_id": "0000341", "task": "TrajChoice", "id": "RH20T_cfg1_task_0040_user_0010_scene_0001_cfg_0001_819112070044#136", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.stack the cups, C.take the marker from the cup and put it on the table then put it back in the cup, D.put the red mug in the red bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000341.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.stack the cups", "C.take the marker from the cup and put it on the table then put it back in the cup", "D.put the red mug in the red bowl" ] }, { "task_id": "0000342", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the toy maize in the white bowl, B.press the machine button, C.grasp the moving object, D.take the towel from the hook on the left to the hook on the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000342.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy maize in the white bowl", "B.press the machine button", "C.grasp the moving object", "D.take the towel from the hook on the left to the hook on the right" ] }, { "task_id": "0000343", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the bottle in the box, B.put the toilet paper on its holder, C.slide the cup to the left, D.move the two pillows to the armrest on the right side], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000343.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the box", "B.put the toilet paper on its holder", "C.slide the cup to the left", "D.move the two pillows to the armrest on the right side" ] }, { "task_id": "0000344", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the microwave, B.move the pot to the left, C.put the cup on the cup rack, D.take out a Hanoi block and throw it aside], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000344.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave", "B.move the pot to the left", "C.put the cup on the cup rack", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0000345", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the spoon to the top right corner of the table, B.pick up the chocolate bar and put it inside the sink, C.put the screwdriver in the open drawer and then close the drawer, D.grab the block and place it at the designated location], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000345.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spoon to the top right corner of the table", "B.pick up the chocolate bar and put it inside the sink", "C.put the screwdriver in the open drawer and then close the drawer", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000346", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasp the handle and open the drawer, B.move the straw from the cup to the table, C.pick up the blue object and move it close to the edge of the table, D.unscrew the lid from the jar], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000346.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.move the straw from the cup to the table", "C.pick up the blue object and move it close to the edge of the table", "D.unscrew the lid from the jar" ] }, { "task_id": "0000347", "task": "TrajChoice", "id": "RH20T_cfg7_task_0009_user_0020_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the dark blue stainless steel thermos from the dish rack to the sink, B.pick up the cup in the sink and put it upright, C.move the blue gameboard backwards then place a yellow chip inside the board, D.take out a Hanoi block and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000347.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the dark blue stainless steel thermos from the dish rack to the sink", "B.pick up the cup in the sink and put it upright", "C.move the blue gameboard backwards then place a yellow chip inside the board", "D.take out a Hanoi block and place it on the table" ] }, { "task_id": "0000348", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.drag the plate back after holding it down, B.close the base cabinet door, C.move the yellow ball, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000348.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate back after holding it down", "B.close the base cabinet door", "C.move the yellow ball", "D.put the cup on the cup rack" ] }, { "task_id": "0000349", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the two bags down from the hook and place them on the shelf, B.cover the pot with the lid, C.put the pen into the pen holder, D.put the green block in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000349.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the two bags down from the hook and place them on the shelf", "B.cover the pot with the lid", "C.put the pen into the pen holder", "D.put the green block in the bowl" ] }, { "task_id": "0000350", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the orange cup inside the black bowl, B.water the plant, C.move the pot from the right side of the countertop to the left side of the countertop, D.put the shirt on the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000350.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup inside the black bowl", "B.water the plant", "C.move the pot from the right side of the countertop to the left side of the countertop", "D.put the shirt on the box" ] }, { "task_id": "0000351", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the towel and the glasses case from the purple basket to the table, B.pick up a bag of things, C.put the object into the box, D.pick a potato from the bag and place it in the glass basin] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000351.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel and the glasses case from the purple basket to the table", "B.pick up a bag of things", "C.put the object into the box", "D.pick a potato from the bag and place it in the glass basin" ] }, { "task_id": "0000352", "task": "TrajChoice", "id": "RH20T_cfg3_task_0070_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the toy from the pot and put it in the sink, B.open a sliding window, C.turn the right rod anti clockwise, D.rotate the steering wheel 90 degrees clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000352.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the toy from the pot and put it in the sink", "B.open a sliding window", "C.turn the right rod anti clockwise", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0000353", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push down the lever, B.move the orange book to the right shelf, C.move the bottle from the counter to the cabinet, D.place the packet on top of the microwave], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000353.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.move the orange book to the right shelf", "C.move the bottle from the counter to the cabinet", "D.place the packet on top of the microwave" ] }, { "task_id": "0000354", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the chair, put the clothes on the back of the chair, B.put the small circle on the table, C.grab the block and place it at the designated location, D.put the object on the plane] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000354.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the chair, put the clothes on the back of the chair", "B.put the small circle on the table", "C.grab the block and place it at the designated location", "D.put the object on the plane" ] }, { "task_id": "0000355", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the bowl in the sink, B.pull the switch wire of the fan light to the open position, C.take out a Hanoi block and throw it onto the table, D.switch off the black lamp on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000355.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl in the sink", "B.pull the switch wire of the fan light to the open position", "C.take out a Hanoi block and throw it onto the table", "D.switch off the black lamp on the table" ] }, { "task_id": "0000356", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.wipe the table with the yellow towel, B.turn the knob to increase the volume of the speaker, C.press the button from top to bottom, D.move the cup from the second shelf of the rack to the table and place it down], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000356.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with the yellow towel", "B.turn the knob to increase the volume of the speaker", "C.press the button from top to bottom", "D.move the cup from the second shelf of the rack to the table and place it down" ] }, { "task_id": "0000357", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.wave the flag, B.move an object from one box to another, C.place the lid on the bowl, D.put the item in the storage box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000357.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.move an object from one box to another", "C.place the lid on the bowl", "D.put the item in the storage box" ] }, { "task_id": "0000358", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0001_cfg_0003_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the bottom right cupboard door, B.transfer the blocks from the table to the scale, C.pick up the bottle and put it in the box, D.put the cup on the paper cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000358.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom right cupboard door", "B.transfer the blocks from the table to the scale", "C.pick up the bottle and put it in the box", "D.put the cup on the paper cup" ] }, { "task_id": "0000359", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the cabinet then place the yellow object on the counter inside the cabinet and close the cabinet, B.put the toilet paper on its holder, C.press a button on the keyboard, D.push the cloth on the table to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000359.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cabinet then place the yellow object on the counter inside the cabinet and close the cabinet", "B.put the toilet paper on its holder", "C.press a button on the keyboard", "D.push the cloth on the table to the right" ] }, { "task_id": "0000361", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the small ball box cube into the box, B.move the object from the drawer to the countertop, C.remove the red marker from the white mug, D.put the cup on the cup rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000361.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small ball box cube into the box", "B.move the object from the drawer to the countertop", "C.remove the red marker from the white mug", "D.put the cup on the cup rack" ] }, { "task_id": "0000362", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the snack bar in the sink, B.transfer the remote control from the cup to the right side of the table, C.play the drum, D.fold the cloth], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000362.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the snack bar in the sink", "B.transfer the remote control from the cup to the right side of the table", "C.play the drum", "D.fold the cloth" ] }, { "task_id": "0000363", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the bag to the right, B.pour the dishwashing liquid into the coffee cup, C.move the shaving stick to the right side of the sink counter, D.pick up the wooden box and pour the cereal in the box into the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000363.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bag to the right", "B.pour the dishwashing liquid into the coffee cup", "C.move the shaving stick to the right side of the sink counter", "D.pick up the wooden box and pour the cereal in the box into the bowl" ] }, { "task_id": "0000364", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cup in the sink, B.move the green cloth, C.take everything out of the gift box, D.grab the block and place it at the black dot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000364.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the sink", "B.move the green cloth", "C.take everything out of the gift box", "D.grab the block and place it at the black dot" ] }, { "task_id": "0000365", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#191", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.stack the orange objects, B.take everything out of the gift box, C.pick up the cloth and put it in the box, D.take the block from the desk and put it into the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000365.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the orange objects", "B.take everything out of the gift box", "C.pick up the cloth and put it in the box", "D.take the block from the desk and put it into the green bowl" ] }, { "task_id": "0000366", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0003_cfg_0004_104122062823#329", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take everything out of the gift box, B.pick up the marker from the cup and put it on the table, C.put the object into the object, D.put the green block in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000366.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.pick up the marker from the cup and put it on the table", "C.put the object into the object", "D.put the green block in the bowl" ] }, { "task_id": "0000367", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a bag of things, B.put something from the plate into the cup, C.plug in the USB drive to the docking station, D.grab a bottle from the shelf], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000367.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.put something from the plate into the cup", "C.plug in the USB drive to the docking station", "D.grab a bottle from the shelf" ] }, { "task_id": "0000368", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grab the block and place it at the designated location, B.move the bottle to the right, C.put the white towel inside the black basket, D.transfer the cup from the table to the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000368.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.move the bottle to the right", "C.put the white towel inside the black basket", "D.transfer the cup from the table to the bowl" ] }, { "task_id": "0000369", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.play jenga, B.take the sponge out of the bowl and place the sponge upright on the table, C.transfer the bag from the bowl to the table, D.unfold a towel on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000369.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.take the sponge out of the bowl and place the sponge upright on the table", "C.transfer the bag from the bowl to the table", "D.unfold a towel on the table" ] }, { "task_id": "0000370", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.folding a towel on the table, B.pull out a napkin, C.place the plastic lid on the plastic barrel, D.close the notebook] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000370.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a towel on the table", "B.pull out a napkin", "C.place the plastic lid on the plastic barrel", "D.close the notebook" ] }, { "task_id": "0000371", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.clean the tabletop with a sponge, B.remove the banana from the red bowl, C.move the object to the black slot, D.pick up the pen from the yellow cup and place it on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000371.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.remove the banana from the red bowl", "C.move the object to the black slot", "D.pick up the pen from the yellow cup and place it on the table" ] }, { "task_id": "0000373", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the contents of the kettle into the red bowl, B.the object moves onto the green object, C.move the pump bottle to the right side of the countertop, D.put the knife on the knife rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000373.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the kettle into the red bowl", "B.the object moves onto the green object", "C.move the pump bottle to the right side of the countertop", "D.put the knife on the knife rack" ] }, { "task_id": "0000374", "task": "TrajChoice", "id": "RH20T_cfg6_task_0091_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bag from the storage box, B.move an object from one box to another, C.assemble: attach the bubble ring to the ball, D.put the bowl on the paper and then open the laptop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000374.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bag from the storage box", "B.move an object from one box to another", "C.assemble: attach the bubble ring to the ball", "D.put the bowl on the paper and then open the laptop" ] }, { "task_id": "0000375", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button from top to bottom, B.put the can in the cabinet, C.remove the object from the pot and put it on the shelf, D.turn off the tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000375.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.put the can in the cabinet", "C.remove the object from the pot and put it on the shelf", "D.turn off the tap" ] }, { "task_id": "0000376", "task": "TrajChoice", "id": "RH20T_cfg1_task_0108_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.putting the object in the container, B.slide the green pepper on the table, C.wipe the countertop with a paper towel, D.rotate the pencil sharpener clockwise] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000376.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.putting the object in the container", "B.slide the green pepper on the table", "C.wipe the countertop with a paper towel", "D.rotate the pencil sharpener clockwise" ] }, { "task_id": "0000377", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp the handle and close the drawer, B.press the remote control on the table, C.move the cup, D.put a blue disc on the wooden rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000377.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.press the remote control on the table", "C.move the cup", "D.put a blue disc on the wooden rack" ] }, { "task_id": "0000378", "task": "TrajChoice", "id": "RH20T_cfg1_task_0042_user_0016_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.rotate the steering wheel counterclockwise, B.put the hair tie into the box, C.move the spray bottle to the left side of the sink, D.screw the lid onto the jar], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000378.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel counterclockwise", "B.put the hair tie into the box", "C.move the spray bottle to the left side of the sink", "D.screw the lid onto the jar" ] }, { "task_id": "0000379", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the object from the scale, B.take the marker from the cup and put it on the table, C.move the book to the right, D.put the marker in the mug] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000379.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.take the marker from the cup and put it on the table", "C.move the book to the right", "D.put the marker in the mug" ] }, { "task_id": "0000380", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0012_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the cutlery holder to the right, B.grasp the moving object, C.put the rubber in the basket on the table, D.grasp a small block to sweep another small block into the designated position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000380.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cutlery holder to the right", "B.grasp the moving object", "C.put the rubber in the basket on the table", "D.grasp a small block to sweep another small block into the designated position" ] }, { "task_id": "0000381", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button on the horizontal pressure control panel, B.move things to the drawer, C.close the sliding window, D.the cloth on the folding table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000381.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the horizontal pressure control panel", "B.move things to the drawer", "C.close the sliding window", "D.the cloth on the folding table" ] }, { "task_id": "0000382", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the cup on the cup rack, B.put the knife on the cutting board, C.put the white bottle into the bag, D.a folding blanket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000382.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the knife on the cutting board", "C.put the white bottle into the bag", "D.a folding blanket" ] }, { "task_id": "0000383", "task": "TrajChoice", "id": "RH20T_cfg5_task_0120_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.installing the light bulb by rotating it, B.take the marker off of the table and place it in the green cup, C.press the button on the yellow base with the green key, D.put the tape on the plate] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000383.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.installing the light bulb by rotating it", "B.take the marker off of the table and place it in the green cup", "C.press the button on the yellow base with the green key", "D.put the tape on the plate" ] }, { "task_id": "0000385", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the cup off the cup rack, B.move the faucet to the left side, then turn off the faucet, C.uncover the bottle of corn and put the lid on the table, D.open the door] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000385.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.move the faucet to the left side, then turn off the faucet", "C.uncover the bottle of corn and put the lid on the table", "D.open the door" ] }, { "task_id": "0000386", "task": "TrajChoice", "id": "RH20T_cfg6_task_0022_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bottle into the bag, B.put the pear plush toy in the drawer then put the watermelon plush toy on the table, C.wave the flag, D.put the toilet paper on its holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000386.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle into the bag", "B.put the pear plush toy in the drawer then put the watermelon plush toy on the table", "C.wave the flag", "D.put the toilet paper on its holder" ] }, { "task_id": "0000387", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grasp the handle and close the drawer, B.place the pen on the table, C.put the hanger on the cabinet hook, D.place a piece of the puzzle onto the puzzle board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000387.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.place the pen on the table", "C.put the hanger on the cabinet hook", "D.place a piece of the puzzle onto the puzzle board" ] }, { "task_id": "0000388", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the left door of the first upper cabinet on the left, B.place the block on the scale, C.grab the object on the right side of the desk, move it to the middle area of the desk, and then put it down, D.put the green doll in the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000388.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the left door of the first upper cabinet on the left", "B.place the block on the scale", "C.grab the object on the right side of the desk, move it to the middle area of the desk, and then put it down", "D.put the green doll in the pot" ] }, { "task_id": "0000389", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0007_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the top drawer on the left, B.put the toilet paper on its holder, C.rotate the marker counterclockwise on the table, D.put the green packet in the open upper cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000389.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer on the left", "B.put the toilet paper on its holder", "C.rotate the marker counterclockwise on the table", "D.put the green packet in the open upper cabinet" ] }, { "task_id": "0000390", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.close the bottom drawer of the cabinet at the right, C.place the watermelon and banana inside the pot, close the drawer, D.move the pen to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000390.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.close the bottom drawer of the cabinet at the right", "C.place the watermelon and banana inside the pot, close the drawer", "D.move the pen to the left" ] }, { "task_id": "0000391", "task": "TrajChoice", "id": "RH20T_cfg5_task_0090_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pushing the block, B.put the white towel in the black box, C.move the mug to the left, D.pick up the pen and put it in the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000391.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pushing the block", "B.put the white towel in the black box", "C.move the mug to the left", "D.pick up the pen and put it in the cup" ] }, { "task_id": "0000392", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a small block, B.put the stuffed tiger in the bowl, C.insert the tip of a large pipette into the holder for large pipette tips, D.put the marker in the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000392.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.put the stuffed tiger in the bowl", "C.insert the tip of a large pipette into the holder for large pipette tips", "D.put the marker in the pot" ] }, { "task_id": "0000393", "task": "TrajChoice", "id": "RH20T_cfg7_task_0049_user_0020_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the marker and put it in the cup, B.rotate the steering wheel counterclockwise, C.remove the marker from the yellow mug then put it on the table, D.put the yellow block inside the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000393.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the cup", "B.rotate the steering wheel counterclockwise", "C.remove the marker from the yellow mug then put it on the table", "D.put the yellow block inside the box" ] }, { "task_id": "0000394", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put a blue object inside the blue box, B.plug in the USB drive to the docking station, C.fold the towel, D.hit the pool ball] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000394.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a blue object inside the blue box", "B.plug in the USB drive to the docking station", "C.fold the towel", "D.hit the pool ball" ] }, { "task_id": "0000395", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0010_cfg_0003_104122062823#401", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hit the pool ball, B.remove the lid from the spray bottle and place it on the table, C.pick up the marker and place it in the gray bowl, D.move the books from the box to the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000395.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the lid from the spray bottle and place it on the table", "C.pick up the marker and place it in the gray bowl", "D.move the books from the box to the table" ] }, { "task_id": "0000396", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the green bowl from the left side of the table to the right side of the table, B.put the knife on the cutting board, C.push the faucet handle backwards, D.place the orange cup inside the yellow cup, put the blue cup inside the orange cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000396.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green bowl from the left side of the table to the right side of the table", "B.put the knife on the cutting board", "C.push the faucet handle backwards", "D.place the orange cup inside the yellow cup, put the blue cup inside the orange cup" ] }, { "task_id": "0000398", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the black object from the left side to the right side, B.take a tissue paper out of the box and put it on the table, C.pull down the curtain switch to close the curtain, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000398.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object from the left side to the right side", "B.take a tissue paper out of the box and put it on the table", "C.pull down the curtain switch to close the curtain", "D.play the drum" ] }, { "task_id": "0000399", "task": "TrajChoice", "id": "RH20T_cfg1_task_0063_user_0014_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker on the table into the cup, B.twist the pan handle 90 degrees, C.move the pan to the right, D.use a shovel to scoop up an object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000399.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the table into the cup", "B.twist the pan handle 90 degrees", "C.move the pan to the right", "D.use a shovel to scoop up an object" ] }, { "task_id": "0000400", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the microwave door, B.pick up the pen and put it in the cup, C.assemble: attach the bubble ring to the ball, D.move the cutlery holder to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000400.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.pick up the pen and put it in the cup", "C.assemble: attach the bubble ring to the ball", "D.move the cutlery holder to the right" ] }, { "task_id": "0000401", "task": "TrajChoice", "id": "RH20T_cfg4_task_0045_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the bowl to the left side of the sink, B.use the white napkin to wipe the white bowl, C.put the green object into the transparent box, D.pick up the brush on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000401.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the left side of the sink", "B.use the white napkin to wipe the white bowl", "C.put the green object into the transparent box", "D.pick up the brush on the table" ] }, { "task_id": "0000402", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pull out a napkin, B.put the black items in the cabinet on top of the cabinet, C.pick up the small block on the left and move it to the right, D.rotate the blue bottle cap in a clockwise direction], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000402.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.put the black items in the cabinet on top of the cabinet", "C.pick up the small block on the left and move it to the right", "D.rotate the blue bottle cap in a clockwise direction" ] }, { "task_id": "0000404", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the small block on the left and move it to the right, B.turn on the lamp, C.turn the knob to increase the volume of the speaker, D.close the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000404.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.turn on the lamp", "C.turn the knob to increase the volume of the speaker", "D.close the microwave door" ] }, { "task_id": "0000405", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.gently push the small block, B.put the object under the shelf, C.transferring the bell from the countertop to the pot, D.move the object from the box to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000405.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.gently push the small block", "B.put the object under the shelf", "C.transferring the bell from the countertop to the pot", "D.move the object from the box to the table" ] }, { "task_id": "0000406", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the upper drawer, B.use the gripper to push the small block from left to right, C.open the lid of the coffee maker, D.move the hat from the shelf to the right side of the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000406.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the upper drawer", "B.use the gripper to push the small block from left to right", "C.open the lid of the coffee maker", "D.move the hat from the shelf to the right side of the shelf" ] }, { "task_id": "0000407", "task": "TrajChoice", "id": "RH20T_cfg3_task_0023_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button on the power strip, B.put the towel in the box, C.put the white lid on top of the clear container, D.plug in the bulb holder with a bulb to the socket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000407.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the power strip", "B.put the towel in the box", "C.put the white lid on top of the clear container", "D.plug in the bulb holder with a bulb to the socket" ] }, { "task_id": "0000408", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the ring on the pillar, B.put the pencil in the bowl, C.remove the object from the scale, D.take the roll of paper down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000408.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the pillar", "B.put the pencil in the bowl", "C.remove the object from the scale", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0000409", "task": "TrajChoice", "id": "RH20T_cfg7_task_0013_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the marker from the mug and place it on the table, B.take the grey plastic packet off of the white plate, C.place the block on the scale, D.pour the object in the bowl onto the towel], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000409.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and place it on the table", "B.take the grey plastic packet off of the white plate", "C.place the block on the scale", "D.pour the object in the bowl onto the towel" ] }, { "task_id": "0000410", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the machine button, B.put the marker into the mug, C.grab a basketball, release it and shoot it into the basket, D.turn the knob to decrease the volume of the speaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000410.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the machine button", "B.put the marker into the mug", "C.grab a basketball, release it and shoot it into the basket", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0000411", "task": "TrajChoice", "id": "RH20T_cfg6_task_0067_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the pot, B.put the lid on the black pot, C.move the bowl forwards, put the purple marker inside the bowl, D.press a button from top to bottom with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000411.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.put the lid on the black pot", "C.move the bowl forwards, put the purple marker inside the bowl", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0000412", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.throw the marker in the cup onto the table, B.take the pen out of the mug and put it on the table, C.pull up the lever, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000412.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the marker in the cup onto the table", "B.take the pen out of the mug and put it on the table", "C.pull up the lever", "D.pull out a napkin" ] }, { "task_id": "0000413", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take a slice of bread from the glass bowl and put it in the toaster, B.close the drawer, C.remove a bottle from the clear box, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000413.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take a slice of bread from the glass bowl and put it in the toaster", "B.close the drawer", "C.remove a bottle from the clear box", "D.place the block on the scale" ] }, { "task_id": "0000414", "task": "TrajChoice", "id": "RH20T_cfg6_task_0033_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the green lid on the couch, B.pour the contents from the plastic cup into the red bowl, C.slide the blocks from the right side of the cardboard to the left side, D.press the last button on the white machine], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000414.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the green lid on the couch", "B.pour the contents from the plastic cup into the red bowl", "C.slide the blocks from the right side of the cardboard to the left side", "D.press the last button on the white machine" ] }, { "task_id": "0000415", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the book on the pillow, B.turn on the desk lamp by pressing the button, C.put the orange Lego bricks on the white object into the bowl, D.pour the water from one cup into another empty cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000415.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the pillow", "B.turn on the desk lamp by pressing the button", "C.put the orange Lego bricks on the white object into the bowl", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0000416", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the pen into the pen holder, B.push the soccer ball into the goal, C.pour the contents of the cup into the plate, D.open the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000416.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.push the soccer ball into the goal", "C.pour the contents of the cup into the plate", "D.open the microwave door" ] }, { "task_id": "0000417", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.rotate the clamp clockwise, B.the stuff in the mixing bowl, C.put the object into the bag, D.move the large spoon into the white bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000417.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the clamp clockwise", "B.the stuff in the mixing bowl", "C.put the object into the bag", "D.move the large spoon into the white bowl" ] }, { "task_id": "0000418", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the screwdriver in the drawer and close it, B.put the marker on the towel, then fold the towel, and then put the towel in the box, C.take the stick of glue out of the mug and put it on the table, D.pull up the lever], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000418.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the screwdriver in the drawer and close it", "B.put the marker on the towel, then fold the towel, and then put the towel in the box", "C.take the stick of glue out of the mug and put it on the table", "D.pull up the lever" ] }, { "task_id": "0000419", "task": "TrajChoice", "id": "RH20T_cfg3_task_0038_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the cloth from the clear screen and put it on the table, B.pick up a bag of things, C.pick up the cup, D.put the tissue on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000419.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cloth from the clear screen and put it on the table", "B.pick up a bag of things", "C.pick up the cup", "D.put the tissue on the table" ] }, { "task_id": "0000420", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.drag the plate to the goal post after holding it down, B.take the pear plush toy from the plate and place it in the box, C.take a bottle out of the clear box and place it on the table, D.pick the lid and put it on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000420.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.take the pear plush toy from the plate and place it in the box", "C.take a bottle out of the clear box and place it on the table", "D.pick the lid and put it on the pot" ] }, { "task_id": "0000421", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the jar to the left side of the table, B.put the cloth on the wooden board, then remove the cloth and put it on the table, C.pick up the black lid on the left and place it on top of the bottle on the right, D.put the toilet paper on its holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000421.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the jar to the left side of the table", "B.put the cloth on the wooden board, then remove the cloth and put it on the table", "C.pick up the black lid on the left and place it on top of the bottle on the right", "D.put the toilet paper on its holder" ] }, { "task_id": "0000422", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the knife on the knife rack, B.take the pen to the left side of the table, C.remove the block from the scale and place it on the table, D.take the drink out of the tray and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000422.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.take the pen to the left side of the table", "C.remove the block from the scale and place it on the table", "D.take the drink out of the tray and put it on the table" ] }, { "task_id": "0000423", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug and put it on the table, B.open the curtain, C.unfold a piece of paper that has been folded once with one end weighed down by a heavy object, D.remove the bubble ring from the assembled bubble ring and ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000423.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the table", "B.open the curtain", "C.unfold a piece of paper that has been folded once with one end weighed down by a heavy object", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0000424", "task": "TrajChoice", "id": "RH20T_cfg5_task_0104_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.drag the plate back after holding it down, B.move the clothes from the left to the right, C.take the green masking tape out of the drawer and place it on the countertop, D.put the marker on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000424.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate back after holding it down", "B.move the clothes from the left to the right", "C.take the green masking tape out of the drawer and place it on the countertop", "D.put the marker on the table" ] }, { "task_id": "0000425", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the knife rack, B.place the blue cylinder on the right side of the table, C.put the remote controller on the desk shelf, D.put the silver fork on the white plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000425.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.place the blue cylinder on the right side of the table", "C.put the remote controller on the desk shelf", "D.put the silver fork on the white plate" ] }, { "task_id": "0000426", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the pump head of the dishwashing liquid, B.turn off the water tap, C.put the grey hat inside the pink laundry bag, D.move the white box backward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000426.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the pump head of the dishwashing liquid", "B.turn off the water tap", "C.put the grey hat inside the pink laundry bag", "D.move the white box backward" ] }, { "task_id": "0000428", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the container into the bowl, B.pour the contents of the box onto the fabric, C.remove the object from the scale, D.wipe the table with a green towel] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000428.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the container into the bowl", "B.pour the contents of the box onto the fabric", "C.remove the object from the scale", "D.wipe the table with a green towel" ] }, { "task_id": "0000429", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.move the cylindrical block slightly to the left, C.turn over the object on the table, D.slice the carrots] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000429.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.move the cylindrical block slightly to the left", "C.turn over the object on the table", "D.slice the carrots" ] }, { "task_id": "0000430", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0020_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.unfold a piece of paper that has been folded once, with one end weighed down, B.adjust the tilted jar, C.place the cup on the table, D.the mobile towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000430.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once, with one end weighed down", "B.adjust the tilted jar", "C.place the cup on the table", "D.the mobile towel" ] }, { "task_id": "0000431", "task": "TrajChoice", "id": "RH20T_cfg5_task_0007_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the small pot to the right, B.place the chess pieces on the chessboard, C.Hold a small block with the gripper and sweep it from left to right on the table, D.remove the can from the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000431.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small pot to the right", "B.place the chess pieces on the chessboard", "C.Hold a small block with the gripper and sweep it from left to right on the table", "D.remove the can from the cabinet" ] }, { "task_id": "0000432", "task": "TrajChoice", "id": "RH20T_cfg4_task_0050_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the plate on the rack, B.bring the clear bottle closer to the coffee maker, C.remove the clear bowl from the yellow bowl and set it down on the counter, D.remove the wooden spoon from the stove and place it on top of the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000432.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the rack", "B.bring the clear bottle closer to the coffee maker", "C.remove the clear bowl from the yellow bowl and set it down on the counter", "D.remove the wooden spoon from the stove and place it on top of the pot" ] }, { "task_id": "0000433", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0003_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button on the yellow base with the green key, B.open the box lid, C.take the bottom bottle from the right compartment of the box and place it on the table, D.move the white bottle to the middle shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000433.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the yellow base with the green key", "B.open the box lid", "C.take the bottom bottle from the right compartment of the box and place it on the table", "D.move the white bottle to the middle shelf" ] }, { "task_id": "0000434", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the empty bottle on the counter and the bottle with the liquid on top of the container, B.grasp a small block to sweep the other small block into the designated position, C.open the book, D.remove the marker from the cup and put it on the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000434.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the empty bottle on the counter and the bottle with the liquid on top of the container", "B.grasp a small block to sweep the other small block into the designated position", "C.open the book", "D.remove the marker from the cup and put it on the counter" ] }, { "task_id": "0000435", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.put the bottle from the ladle on the table, C.close the lid of the kettle, D.pick up the yellow object from the counter and put it on the plate, then put it back on the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000435.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the bottle from the ladle on the table", "C.close the lid of the kettle", "D.pick up the yellow object from the counter and put it on the plate, then put it back on the counter" ] }, { "task_id": "0000436", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the dish on the dish rack, B.put the computer in the pot, C.take something out of a drawer, D.move the blue plush toy] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000436.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the dish on the dish rack", "B.put the computer in the pot", "C.take something out of a drawer", "D.move the blue plush toy" ] }, { "task_id": "0000437", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the packet in the open cabinet, B.after watering the plant, put the kettle on the table, C.move the small glass container next to the cup, D.place the glass lid on top of the glass container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000437.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the packet in the open cabinet", "B.after watering the plant, put the kettle on the table", "C.move the small glass container next to the cup", "D.place the glass lid on top of the glass container" ] }, { "task_id": "0000438", "task": "TrajChoice", "id": "RH20T_cfg3_task_0066_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.throw the piece into the bowl, B.build with large Megabloks for the nth time with n blocks, C.press the switch on the stove, D.move the silver cup to the left of the sink] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000438.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the piece into the bowl", "B.build with large Megabloks for the nth time with n blocks", "C.press the switch on the stove", "D.move the silver cup to the left of the sink" ] }, { "task_id": "0000439", "task": "TrajChoice", "id": "RH20T_cfg1_task_0028_user_0001_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press a button horizontally with obstacles, B.grasp the handle and close the drawer, C.put the lunchbox's lid in the sink, D.take the blue pen out of the blue cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000439.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally with obstacles", "B.grasp the handle and close the drawer", "C.put the lunchbox's lid in the sink", "D.take the blue pen out of the blue cup" ] }, { "task_id": "0000440", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.the towel on the folding table, B.pick up the piece from the deep blue plate on the table and move it to the front side of the plate, C.plug in the bulb holder to the socket, D.take the lid from the table and place it on the black pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000440.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the towel on the folding table", "B.pick up the piece from the deep blue plate on the table and move it to the front side of the plate", "C.plug in the bulb holder to the socket", "D.take the lid from the table and place it on the black pot" ] }, { "task_id": "0000441", "task": "TrajChoice", "id": "RH20T_cfg6_task_0047_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the left switch, B.move the lid from the blue pan to the black pot, C.remove the clothing from the backrest of the chair and place them on the table, D.take the cup off the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000441.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the left switch", "B.move the lid from the blue pan to the black pot", "C.remove the clothing from the backrest of the chair and place them on the table", "D.take the cup off the cup rack" ] }, { "task_id": "0000442", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the cup, B.move the faucet to the right, C.flip over and spread out the paper that is laid flat on the table, D.place the pink little bottle on the right side of the microwave], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000442.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.move the faucet to the right", "C.flip over and spread out the paper that is laid flat on the table", "D.place the pink little bottle on the right side of the microwave" ] }, { "task_id": "0000443", "task": "TrajChoice", "id": "RH20T_cfg6_task_0105_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the blocks on the shelf, B.pick the black lid and put it on the bottle, C.remove the white towel from the backrest of the brown chair and place it on the seat of the black chair, D.put the marker in the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000443.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blocks on the shelf", "B.pick the black lid and put it on the bottle", "C.remove the white towel from the backrest of the brown chair and place it on the seat of the black chair", "D.put the marker in the cup" ] }, { "task_id": "0000444", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bowl into the bowl, B.put the object in the bowl, C.take the roll of paper down from the shelf, D.put the block into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000444.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl into the bowl", "B.put the object in the bowl", "C.take the roll of paper down from the shelf", "D.put the block into the box" ] }, { "task_id": "0000445", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.move the green object to the inside position of the table, C.put the block on the stack of blocks, D.close the coffee machine chamber], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000445.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move the green object to the inside position of the table", "C.put the block on the stack of blocks", "D.close the coffee machine chamber" ] }, { "task_id": "0000446", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the marker in the cup, B.unfold a piece of paper that has been folded once with one end weighed down by a heavy object, C.put the bottle upright, D.slide the towel to the left side of the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000446.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.unfold a piece of paper that has been folded once with one end weighed down by a heavy object", "C.put the bottle upright", "D.slide the towel to the left side of the desk" ] }, { "task_id": "0000447", "task": "TrajChoice", "id": "RH20T_cfg7_task_0046_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the orange marker to the left, B.place the marker in the blue bottle, C.unfold a piece of paper that has been folded once with one end weighed down by a heavy object, D.put the cup on the cup rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000447.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the orange marker to the left", "B.place the marker in the blue bottle", "C.unfold a piece of paper that has been folded once with one end weighed down by a heavy object", "D.put the cup on the cup rack" ] }, { "task_id": "0000448", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.water the plant, B.twist the first foosball rod from the left, C.put the small cup on the table, D.operate the ring and the pillar] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000448.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.twist the first foosball rod from the left", "C.put the small cup on the table", "D.operate the ring and the pillar" ] }, { "task_id": "0000449", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the black and white object on the table onto the pile of blocks, B.pour the contents of the glass cup into the bowl, C.move the grey towel to the left, D.push the silver plate into the ball basket], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000449.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black and white object on the table onto the pile of blocks", "B.pour the contents of the glass cup into the bowl", "C.move the grey towel to the left", "D.push the silver plate into the ball basket" ] }, { "task_id": "0000450", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drop a coin into a piggy bank, B.open the stacked cloth, C.hang the green towel on the coat hanger, D.put the black bowl on the windowsill and the green ball on the nightstand] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000450.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.open the stacked cloth", "C.hang the green towel on the coat hanger", "D.put the black bowl on the windowsill and the green ball on the nightstand" ] }, { "task_id": "0000451", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the open drawer on the right filing cabinet, B.press the button horizontally, C.grasp a small block to sweep the other small block into a designated position, D.put the black clothes on the black chair], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000451.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the open drawer on the right filing cabinet", "B.press the button horizontally", "C.grasp a small block to sweep the other small block into a designated position", "D.put the black clothes on the black chair" ] }, { "task_id": "0000452", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0006_cfg_0004_104122062823#156", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn off the light by pressing the switch, B.put the toilet paper on its holder, C.grasp a small block to sweep the other small block into a designated position, D.place the orange and green blocks inside the black bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000452.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light by pressing the switch", "B.put the toilet paper on its holder", "C.grasp a small block to sweep the other small block into a designated position", "D.place the orange and green blocks inside the black bowl" ] }, { "task_id": "0000453", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow pepper in the orange bowl, B.spill the waste out of the black bin and onto the counter, C.put the snacks in the bowl, D.grab the block and place it at the designated location] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000453.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow pepper in the orange bowl", "B.spill the waste out of the black bin and onto the counter", "C.put the snacks in the bowl", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000454", "task": "TrajChoice", "id": "RH20T_cfg7_task_0017_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the faucet nozzle counterclockwise, B.open the second layer drawer on the left, C.put the pen into the pen holder, D.use the cloth to wipe the book] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000454.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the faucet nozzle counterclockwise", "B.open the second layer drawer on the left", "C.put the pen into the pen holder", "D.use the cloth to wipe the book" ] }, { "task_id": "0000455", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the yellow object inside the red cup, B.take the green plate from the dish rack and put it on the table, C.put the ring onto the cylinder, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000455.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow object inside the red cup", "B.take the green plate from the dish rack and put it on the table", "C.put the ring onto the cylinder", "D.pick up a bag of things" ] }, { "task_id": "0000456", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the jar (requires twisting), B.put the toy into the bowl, C.wipe the pan with a towel, D.place the green can on the left side of the countertop] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000456.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the jar (requires twisting)", "B.put the toy into the bowl", "C.wipe the pan with a towel", "D.place the green can on the left side of the countertop" ] }, { "task_id": "0000457", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the watermelon plush toy from the basket and place it on the countertop, B.place the lid on the table, C.push the block backward, D.move the cup to the microwave] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000457.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the watermelon plush toy from the basket and place it on the countertop", "B.place the lid on the table", "C.push the block backward", "D.move the cup to the microwave" ] }, { "task_id": "0000459", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the bag from the left side of the chair back to the right side, B.move the green and white towels to the counter behind the sofa, C.put some of the objects from the measuring cup into the bowl, D.grasping a small block to push another small block into the designated position] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000459.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bag from the left side of the chair back to the right side", "B.move the green and white towels to the counter behind the sofa", "C.put some of the objects from the measuring cup into the bowl", "D.grasping a small block to push another small block into the designated position" ] }, { "task_id": "0000460", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0005_cfg_0002_037522062165#267", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the peach t-shirt on the backrest of the grey chair, B.grasping a small block to push another small block into the designated position, C.put the object in the basket, D.pick up the cylindrical block and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000460.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the peach t-shirt on the backrest of the grey chair", "B.grasping a small block to push another small block into the designated position", "C.put the object in the basket", "D.pick up the cylindrical block and put it on the table" ] }, { "task_id": "0000461", "task": "TrajChoice", "id": "RH20T_cfg4_task_0065_user_0015_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up a bag of things, B.take the object down from the shelf, C.place the black small Lego block on the grid position, D.put the cup upside down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000461.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.take the object down from the shelf", "C.place the black small Lego block on the grid position", "D.put the cup upside down" ] }, { "task_id": "0000462", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.open the cabinet door, C.take the pen out of the cup and set it on the table, D.remove the packet from the sink] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000462.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.open the cabinet door", "C.take the pen out of the cup and set it on the table", "D.remove the packet from the sink" ] }, { "task_id": "0000463", "task": "TrajChoice", "id": "RH20T_cfg6_task_0053_user_0014_scene_0008_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use a clamp, B.put the tiger plushy in the black bowl, C.pour the contents of the bowl into the cup, D.move the green bowl to the designated position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000463.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a clamp", "B.put the tiger plushy in the black bowl", "C.pour the contents of the bowl into the cup", "D.move the green bowl to the designated position" ] }, { "task_id": "0000464", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the soda can from the countertop to the bowl, B.put the lid on the kettle, C.turn off the water tap, D.grasping the moving object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000464.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the soda can from the countertop to the bowl", "B.put the lid on the kettle", "C.turn off the water tap", "D.grasping the moving object" ] }, { "task_id": "0000465", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the grey slipper to the top part of the shoe rack, B.close the drawer, C.put the plate on the countertop outside the goal, D.put the green object on the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000465.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the grey slipper to the top part of the shoe rack", "B.close the drawer", "C.put the plate on the countertop outside the goal", "D.put the green object on the left side of the table" ] }, { "task_id": "0000466", "task": "TrajChoice", "id": "RH20T_cfg5_task_0200_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.insert the tip of a large pipette into the holder for large pipette tips, B.place the pen on the counter, C.use the cloth to clean the countertop, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000466.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a large pipette into the holder for large pipette tips", "B.place the pen on the counter", "C.use the cloth to clean the countertop", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0000467", "task": "TrajChoice", "id": "RH20T_cfg6_task_0078_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.screw the lid onto the jar, B.remove the small white box from the white storage box and place it on the right side of the counter, C.remove the marker from the cup and put it on the table, D.close the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000467.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.remove the small white box from the white storage box and place it on the right side of the counter", "C.remove the marker from the cup and put it on the table", "D.close the microwave door" ] }, { "task_id": "0000468", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the drawer, B.slide the plate back to the table, C.pour the contents from the white bowl onto the gray plate, D.throw the green book to the side of the sofa] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000468.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer", "B.slide the plate back to the table", "C.pour the contents from the white bowl onto the gray plate", "D.throw the green book to the side of the sofa" ] }, { "task_id": "0000469", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the small block on the left and move it to the right, B.move the blue cup forward, C.Insert the tip of a medium pipette into the holder for medium pipette tips, D.put the clothes on the back of the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000469.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.move the blue cup forward", "C.Insert the tip of a medium pipette into the holder for medium pipette tips", "D.put the clothes on the back of the chair" ] }, { "task_id": "0000470", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up a bag of things, B.take the marker from the table and put it in the white cup, C.put the black spoon next to the tea towel from beside the red bowl, D.place the pillow on the pillow] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000470.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.take the marker from the table and put it in the white cup", "C.put the black spoon next to the tea towel from beside the red bowl", "D.place the pillow on the pillow" ] }, { "task_id": "0000471", "task": "TrajChoice", "id": "RH20T_cfg5_task_0090_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.approach and touch an object with an obstacle, B.pick the marker and put it in the cup, C.open the drawer, D.push the dirt on the table to the left with a cloth] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000471.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch an object with an obstacle", "B.pick the marker and put it in the cup", "C.open the drawer", "D.push the dirt on the table to the left with a cloth" ] }, { "task_id": "0000472", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the towel back and forth on the backs of the two chairs, B.pick up the black head sock from the container and put it on the chair, C.use the napkin to wipe the countertop, D.press the button from top to bottom] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000472.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel back and forth on the backs of the two chairs", "B.pick up the black head sock from the container and put it on the chair", "C.use the napkin to wipe the countertop", "D.press the button from top to bottom" ] }, { "task_id": "0000473", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull the cup back, B.grasp the moving object, C.place the white lid on the transparent container and push the button, D.move the pen from the table to the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000473.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the cup back", "B.grasp the moving object", "C.place the white lid on the transparent container and push the button", "D.move the pen from the table to the pen holder" ] }, { "task_id": "0000474", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the cup to the top of another cup, B.drop a coin into the piggy bank, C.wipe the white plate with the paper towel, D.wiping the countertop with a towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000474.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the top of another cup", "B.drop a coin into the piggy bank", "C.wipe the white plate with the paper towel", "D.wiping the countertop with a towel" ] }, { "task_id": "0000475", "task": "TrajChoice", "id": "RH20T_cfg6_task_0049_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees counterclockwise, B.put the marker on the table, C.move the bag containing items to the left, D.take the lid off the pot and put it on the stove] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000475.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees counterclockwise", "B.put the marker on the table", "C.move the bag containing items to the left", "D.take the lid off the pot and put it on the stove" ] }, { "task_id": "0000476", "task": "TrajChoice", "id": "RH20T_cfg1_task_0067_user_0010_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the rope and place it on the black workbench, B.remove the donut toy from the plate and place it on the table, C.move the cup above the fabric, D.press a button from top to bottom with obstacles], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000476.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the rope and place it on the black workbench", "B.remove the donut toy from the plate and place it on the table", "C.move the cup above the fabric", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0000477", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up and place an object with obstacles, B.move the object from the top of the washing machine, C.pick the marker and put it in the cup, D.put the knife on the cutting board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000477.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.move the object from the top of the washing machine", "C.pick the marker and put it in the cup", "D.put the knife on the cutting board" ] }, { "task_id": "0000478", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the top cabinet door, B.put the green towel on the top clothes rack, C.put the pen into the pen holder, D.use the white napkin to wipe the tabletop] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000478.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top cabinet door", "B.put the green towel on the top clothes rack", "C.put the pen into the pen holder", "D.use the white napkin to wipe the tabletop" ] }, { "task_id": "0000479", "task": "TrajChoice", "id": "RH20T_cfg4_task_0002_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the block that is stacked on top, B.pull out a napkin, C.unfolding a towel on the table, D.pick up the vial and move it forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000479.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the block that is stacked on top", "B.pull out a napkin", "C.unfolding a towel on the table", "D.pick up the vial and move it forward" ] }, { "task_id": "0000480", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the screwdriver in the open drawer then close the drawer, B.take the white object from the plate and put it into the cup, C.put the marker in the cup on the table, D.move an object from one box to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000480.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the screwdriver in the open drawer then close the drawer", "B.take the white object from the plate and put it into the cup", "C.put the marker in the cup on the table", "D.move an object from one box to another" ] }, { "task_id": "0000481", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hang the clothes hanger on the handle of the cabinet door, B.turn on the desk lamp by pressing the button, C.put the can in the sink, D.pick up the phone and put it in the black bag] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000481.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the clothes hanger on the handle of the cabinet door", "B.turn on the desk lamp by pressing the button", "C.put the can in the sink", "D.pick up the phone and put it in the black bag" ] }, { "task_id": "0000482", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the banana plush toy from the box to above the table, B.put the corn toy on the table, C.remove the object from the scale, D.place the remote control on the pillow] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000482.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the banana plush toy from the box to above the table", "B.put the corn toy on the table", "C.remove the object from the scale", "D.place the remote control on the pillow" ] }, { "task_id": "0000483", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the object from the scale, B.put the pen into the pen holder, C.pour the things in the green cup into the pot, D.clean the table with a cloth] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000483.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.put the pen into the pen holder", "C.pour the things in the green cup into the pot", "D.clean the table with a cloth" ] }, { "task_id": "0000484", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grab the object and put the object into the box, B.put the banana on the tray, C.place the screwdriver in the drawer then close it, D.put the photo frame on the table] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000484.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the object and put the object into the box", "B.put the banana on the tray", "C.place the screwdriver in the drawer then close it", "D.put the photo frame on the table" ] }, { "task_id": "0000485", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the detergent compartment, B.put the marker in the cup, C.transfer the toy from the table to the bowl, D.scoop water with a large spoon from one bowl to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000485.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the detergent compartment", "B.put the marker in the cup", "C.transfer the toy from the table to the bowl", "D.scoop water with a large spoon from one bowl to another" ] }, { "task_id": "0000486", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the pen, B.put the object into the bowl, C.place the marker on the table, D.move the block backward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000486.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pen", "B.put the object into the bowl", "C.place the marker on the table", "D.move the block backward" ] }, { "task_id": "0000488", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees clockwise, B.open the microwave door, C.slightly move the tissue roll to the bottom of the table, D.the object is put into the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000488.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.open the microwave door", "C.slightly move the tissue roll to the bottom of the table", "D.the object is put into the drawer" ] }, { "task_id": "0000489", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.insert the tip of a medium pipette into the holder for medium pipette tips, B.close the drawer, C.put the cup upright on the table, D.put the marker in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000489.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a medium pipette into the holder for medium pipette tips", "B.close the drawer", "C.put the cup upright on the table", "D.put the marker in the bowl" ] }, { "task_id": "0000490", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.swat with a flyswatter, B.turn on the light, C.take the cup to the plate, D.transfer the bottle from the plate to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000490.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.turn on the light", "C.take the cup to the plate", "D.transfer the bottle from the plate to the table" ] }, { "task_id": "0000491", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bowl from the green bowl, B.turn off the toaster, C.wipe the tabletop with a towel, D.pick up the object in the sink and move the sink to the left side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000491.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bowl from the green bowl", "B.turn off the toaster", "C.wipe the tabletop with a towel", "D.pick up the object in the sink and move the sink to the left side" ] }, { "task_id": "0000492", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the bowl, B.turn off the desk lamp by pressing the button, C.put the egg on the silver bowl, D.put the shoes on the top shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000492.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the bowl", "B.turn off the desk lamp by pressing the button", "C.put the egg on the silver bowl", "D.put the shoes on the top shelf" ] }, { "task_id": "0000493", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the cup, B.turn the knob to decrease the volume of the speaker, C.take the lid off of the plastic container, D.move the kettle from the kettle base to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000493.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.turn the knob to decrease the volume of the speaker", "C.take the lid off of the plastic container", "D.move the kettle from the kettle base to the table" ] }, { "task_id": "0000494", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.fold the kitchen towel, B.slide the outer casing onto the gift box, C.open the left cabinet door, D.open the refrigerator], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000494.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the kitchen towel", "B.slide the outer casing onto the gift box", "C.open the left cabinet door", "D.open the refrigerator" ] }, { "task_id": "0000496", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toy into the green bowl, B.clean the table with a cloth, C.put the green object in the pot, D.move the yellow pillow to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000496.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy into the green bowl", "B.clean the table with a cloth", "C.put the green object in the pot", "D.move the yellow pillow to the right" ] }, { "task_id": "0000497", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up a bag of things, B.throw the green headband onto the table, C.move the brown object, D.move the cup downwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000497.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.throw the green headband onto the table", "C.move the brown object", "D.move the cup downwards" ] }, { "task_id": "0000498", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the refrigerator door, B.move the napkin to the right, C.put the pen into the pen holder, D.close the bottom drawer of the white file cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000498.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the refrigerator door", "B.move the napkin to the right", "C.put the pen into the pen holder", "D.close the bottom drawer of the white file cabinet" ] }, { "task_id": "0000499", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the ring to the top of the ring, B.insert the pencil into the pencil sharpener, C.put the white lid on the coffee cup, D.put the sphere in the tray], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000499.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the ring to the top of the ring", "B.insert the pencil into the pencil sharpener", "C.put the white lid on the coffee cup", "D.put the sphere in the tray" ] }, { "task_id": "0000500", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the packaging bag from the tabletop to the shelf, B.remove the object from the scale, C.place the avocado in the white cup, D.pour the contents of the transparent bowl onto the towel] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000500.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the packaging bag from the tabletop to the shelf", "B.remove the object from the scale", "C.place the avocado in the white cup", "D.pour the contents of the transparent bowl onto the towel" ] }, { "task_id": "0000501", "task": "TrajChoice", "id": "RH20T_cfg1_task_0069_user_0015_scene_0004_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the spoon from the bowl and put it on the table, B.use the gripper to push the small block from left to right, C.assemble one piece of a puzzle, D.pick up the cloth and wipe the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000501.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the spoon from the bowl and put it on the table", "B.use the gripper to push the small block from left to right", "C.assemble one piece of a puzzle", "D.pick up the cloth and wipe the pot" ] }, { "task_id": "0000503", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the clothes on the ground, B.drag the plate to the goal post after holding it down, C.grab the yellow block from above the desktop and place it below the desktop, D.put the coffee capsule on top of the coffee machine] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000503.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothes on the ground", "B.drag the plate to the goal post after holding it down", "C.grab the yellow block from above the desktop and place it below the desktop", "D.put the coffee capsule on top of the coffee machine" ] }, { "task_id": "0000504", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grab a basketball, release it and shoot it into the basket, B.pick up the carrot from the pot and put it on the counter, C.place a coffee pod on the black stand on the left, D.pull the microwave's door handle to open the microwave] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000504.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, release it and shoot it into the basket", "B.pick up the carrot from the pot and put it on the counter", "C.place a coffee pod on the black stand on the left", "D.pull the microwave's door handle to open the microwave" ] }, { "task_id": "0000505", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0015_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees counterclockwise, B.grasp the moving object, C.move the green soda can to the open cabinet, D.move the tap nozzle to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000505.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees counterclockwise", "B.grasp the moving object", "C.move the green soda can to the open cabinet", "D.move the tap nozzle to the right" ] }, { "task_id": "0000506", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.drag the plate back after holding it down, B.move the pink container to the right side of the desk, C.put the marker inside the cup, D.put the black lid on the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000506.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate back after holding it down", "B.move the pink container to the right side of the desk", "C.put the marker inside the cup", "D.put the black lid on the pot" ] }, { "task_id": "0000507", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove one glass jar from the topmost shelf and put it on the stovetop, B.take the marker out of the cup and put it on the table, C.plug in the power cord to the socket, D.push the towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000507.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove one glass jar from the topmost shelf and put it on the stovetop", "B.take the marker out of the cup and put it on the table", "C.plug in the power cord to the socket", "D.push the towel" ] }, { "task_id": "0000508", "task": "TrajChoice", "id": "RH20T_cfg6_task_0075_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the black object on the table, B.finish setting up the starting position of a chessboard that is almost arranged, C.put the orange ring on the wooden platform, D.transfer the items from the plate to the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000508.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black object on the table", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.put the orange ring on the wooden platform", "D.transfer the items from the plate to the sink" ] }, { "task_id": "0000509", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the tea bar machine, B.place the lid on the bowl then put it on the table, C.unfold the leg of the glasses (with one hand), D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000509.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the tea bar machine", "B.place the lid on the bowl then put it on the table", "C.unfold the leg of the glasses (with one hand)", "D.put the toilet paper on its holder" ] }, { "task_id": "0000510", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pulling open the drawer, B.press one button on the left side of the oven, C.put the glass cup onto the shelf, D.move the light red bowl and put it on the black bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000510.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pulling open the drawer", "B.press one button on the left side of the oven", "C.put the glass cup onto the shelf", "D.move the light red bowl and put it on the black bowl" ] }, { "task_id": "0000511", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the red wrapping paper from the bag and transfer it to the bed, B.remove the object from the scale, C.transfer the object knife to the table, D.move the fork from the yellow plate to the brown plate, then put it down] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000511.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the red wrapping paper from the bag and transfer it to the bed", "B.remove the object from the scale", "C.transfer the object knife to the table", "D.move the fork from the yellow plate to the brown plate, then put it down" ] }, { "task_id": "0000513", "task": "TrajChoice", "id": "RH20T_cfg1_task_0043_user_0016_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press a button on the remote, B.unscrew the lid from the jar, C.press the machine's switch, D.putting the ball into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000513.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button on the remote", "B.unscrew the lid from the jar", "C.press the machine's switch", "D.putting the ball into the bowl" ] }, { "task_id": "0000514", "task": "TrajChoice", "id": "RH20T_cfg7_task_0004_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.swap the position of the bottle and the transparent bottle containing the green liquid, B.put the block on the right onto the table on the left, C.put the yellow marker in the mug, D.move the blue masking tape from the left to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000514.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swap the position of the bottle and the transparent bottle containing the green liquid", "B.put the block on the right onto the table on the left", "C.put the yellow marker in the mug", "D.move the blue masking tape from the left to the right" ] }, { "task_id": "0000515", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.the white tissue is sliding on the rectangular prism and then it is placed down, C.place the white object on the table, D.put the orange cup in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000515.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.the white tissue is sliding on the rectangular prism and then it is placed down", "C.place the white object on the table", "D.put the orange cup in the bowl" ] }, { "task_id": "0000516", "task": "TrajChoice", "id": "RH20T_cfg7_task_0018_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the bowl from the base to the table, B.push the block to the left, C.press a key on the keyboard, D.hit the pool ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000516.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl from the base to the table", "B.push the block to the left", "C.press a key on the keyboard", "D.hit the pool ball" ] }, { "task_id": "0000517", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press a button horizontally with obstacles, B.turn the knob to decrease the volume of the speaker, C.take out the spoon from the drawer and place the spoon on the table, D.open the microwave door] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000517.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally with obstacles", "B.turn the knob to decrease the volume of the speaker", "C.take out the spoon from the drawer and place the spoon on the table", "D.open the microwave door" ] }, { "task_id": "0000518", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the things in the drawer, B.remove the lid from the pot and place it on the table, C.open the microwave, D.put the lid on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000518.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.remove the lid from the pot and place it on the table", "C.open the microwave", "D.put the lid on the table" ] }, { "task_id": "0000519", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the tissue from the tissue bag to the desktop, B.push the block to the left side of the table, C.press the button on the wall, D.put the marker in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000519.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the tissue from the tissue bag to the desktop", "B.push the block to the left side of the table", "C.press the button on the wall", "D.put the marker in the bowl" ] }, { "task_id": "0000520", "task": "TrajChoice", "id": "RH20T_cfg4_task_0112_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the white cloth to the right, B.press the key on the keyboard, C.plug in the charger to the socket, D.stack the three cups together] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000520.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cloth to the right", "B.press the key on the keyboard", "C.plug in the charger to the socket", "D.stack the three cups together" ] }, { "task_id": "0000521", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn off the desk lamp by pressing the button, B.put the object on the right side of the table, C.move the small ball to the green bowl, D.put the blue cup in the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000521.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.put the object on the right side of the table", "C.move the small ball to the green bowl", "D.put the blue cup in the pot" ] }, { "task_id": "0000522", "task": "TrajChoice", "id": "RH20T_cfg1_task_0091_user_0014_scene_0008_cfg_0001_819112070044#130", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.use a towel to wipe the table, B.stack the right plate in the left plate, C.move an object from one box to another, D.push down on the slider on the toaster], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000522.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the table", "B.stack the right plate in the left plate", "C.move an object from one box to another", "D.push down on the slider on the toaster" ] }, { "task_id": "0000523", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the light by pressing the switch on the wall, B.pick up the corn from the table and put it in the drawer, C.stacking blocks (small Lego) is done randomly one at a time, D.drop coins into a piggy bank, the coins fall onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000523.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light by pressing the switch on the wall", "B.pick up the corn from the table and put it in the drawer", "C.stacking blocks (small Lego) is done randomly one at a time", "D.drop coins into a piggy bank, the coins fall onto the table" ] }, { "task_id": "0000524", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the right cabinet door, B.transfer the green block from the table to the black bowl, C.pick up the small block on the right and move it, D.flip the green cloth over], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000524.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the right cabinet door", "B.transfer the green block from the table to the black bowl", "C.pick up the small block on the right and move it", "D.flip the green cloth over" ] }, { "task_id": "0000525", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the bottle in the cardboard box, B.take the cup off the cup rack and place it on the table, C.press the button from top to bottom, D.take the roll of paper down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000525.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the cardboard box", "B.take the cup off the cup rack and place it on the table", "C.press the button from top to bottom", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0000526", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.play the drum, B.use a clamp, C.pick up the circular object on the counter and place it in the bottom compartment of the brown shelf, D.rotate the box counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000526.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.use a clamp", "C.pick up the circular object on the counter and place it in the bottom compartment of the brown shelf", "D.rotate the box counterclockwise" ] }, { "task_id": "0000527", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the bag to the right side, B.put the fork from the silver cup onto the table, C.fold the towel, D.pour the contents from the pink cup into the white bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000527.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bag to the right side", "B.put the fork from the silver cup onto the table", "C.fold the towel", "D.pour the contents from the pink cup into the white bowl" ] }, { "task_id": "0000528", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the orange and green building blocks in the black bowl, B.moving the black cloth from the inside of the table and placing it on the lid, holding the lid and the cloth and moving them from the table to the pot, moving the black cloth from the lid and placing it back on the table, C.put the pen into the pen holder, D.take the black tape from the drawer and put it on the countertop] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000528.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange and green building blocks in the black bowl", "B.moving the black cloth from the inside of the table and placing it on the lid, holding the lid and the cloth and moving them from the table to the pot, moving the black cloth from the lid and placing it back on the table", "C.put the pen into the pen holder", "D.take the black tape from the drawer and put it on the countertop" ] }, { "task_id": "0000529", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the three spoons together, B.approach and touch the side of the small block, C.press the switch on the machine, D.move an object from one box to another], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000529.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the three spoons together", "B.approach and touch the side of the small block", "C.press the switch on the machine", "D.move an object from one box to another" ] }, { "task_id": "0000530", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the green toy from the left side of the countertop into the sink, B.turn on the desk lamp by pressing the button, C.remove the orange cup from the drying rack, D.remove the orange can from the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000530.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green toy from the left side of the countertop into the sink", "B.turn on the desk lamp by pressing the button", "C.remove the orange cup from the drying rack", "D.remove the orange can from the sink" ] }, { "task_id": "0000531", "task": "TrajChoice", "id": "RH20T_cfg6_task_0063_user_0007_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.use a shovel to scoop up an object, B.arrange the black objects on the table, C.close the bin, D.put the marker in the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000531.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a shovel to scoop up an object", "B.arrange the black objects on the table", "C.close the bin", "D.put the marker in the pot" ] }, { "task_id": "0000532", "task": "TrajChoice", "id": "RH20T_cfg6_task_0063_user_0007_scene_0006_cfg_0006_104122063633#277", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the small block on the left and move it to the right, B.close the open drawer, C.take the pen out of the mug and put it on the table, D.use a shovel to scoop up an object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000532.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.close the open drawer", "C.take the pen out of the mug and put it on the table", "D.use a shovel to scoop up an object" ] }, { "task_id": "0000533", "task": "TrajChoice", "id": "RH20T_cfg5_task_0096_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the sliding cover of the cup top, B.push down the lever, C.take something out of a drawer and put it on the table, D.open the topmost drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000533.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the sliding cover of the cup top", "B.push down the lever", "C.take something out of a drawer and put it on the table", "D.open the topmost drawer" ] }, { "task_id": "0000534", "task": "TrajChoice", "id": "RH20T_cfg5_task_0096_user_0007_scene_0007_cfg_0005_104122063678#305", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the left side key of the keyboard, B.put the hanger on the countertop, C.pressing the piano keys, D.take something out of a drawer and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000534.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the left side key of the keyboard", "B.put the hanger on the countertop", "C.pressing the piano keys", "D.take something out of a drawer and put it on the table" ] }, { "task_id": "0000535", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use a white towel to wipe the pan, B.wipe the small ball with a tissue, C.turn off the faucet of the sink, D.press the button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000535.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a white towel to wipe the pan", "B.wipe the small ball with a tissue", "C.turn off the faucet of the sink", "D.press the button from top to bottom" ] }, { "task_id": "0000536", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object to the middle of the table, B.approach and touch the side of the small block, C.close the top drawer of the cabinet on the right, D.throw the object on the green bowl onto the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000536.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the middle of the table", "B.approach and touch the side of the small block", "C.close the top drawer of the cabinet on the right", "D.throw the object on the green bowl onto the table" ] }, { "task_id": "0000537", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.throw the ball into the basket, B.pull the plate out of the goal, C.move the green bottle to the front edge of the counter, D.take the cap off of the clear container then remove the object inside the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000537.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the ball into the basket", "B.pull the plate out of the goal", "C.move the green bottle to the front edge of the counter", "D.take the cap off of the clear container then remove the object inside the container" ] }, { "task_id": "0000538", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the mug to the right, B.clean the desktop with a brush, C.put the green block in the black bowl, D.pressing the keyboard on the desktop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000538.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug to the right", "B.clean the desktop with a brush", "C.put the green block in the black bowl", "D.pressing the keyboard on the desktop" ] }, { "task_id": "0000539", "task": "TrajChoice", "id": "RH20T_cfg1_task_0072_user_0001_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the white cloth from the glass panel, B.turn on the desk lamp by pressing the button, C.drop a coin into the piggy bank, D.move the plush toy to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000539.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white cloth from the glass panel", "B.turn on the desk lamp by pressing the button", "C.drop a coin into the piggy bank", "D.move the plush toy to the left" ] }, { "task_id": "0000541", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the paper into the plastic box, B.center the faucet, C.press the switch on the left side of the wall, D.clean the tabletop with a sponge] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000541.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the paper into the plastic box", "B.center the faucet", "C.press the switch on the left side of the wall", "D.clean the tabletop with a sponge" ] }, { "task_id": "0000542", "task": "TrajChoice", "id": "RH20T_cfg2_task_0078_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the brown object inside the oven, B.turn the knob to decrease the volume of the speaker, C.place the two cups stacked together on the left side of the table, D.close the microwave door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000542.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the brown object inside the oven", "B.turn the knob to decrease the volume of the speaker", "C.place the two cups stacked together on the left side of the table", "D.close the microwave door" ] }, { "task_id": "0000543", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the glass lid on the black pot, B.water the plant, C.turn on the tap, D.transfer the bottle from the bag to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000543.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass lid on the black pot", "B.water the plant", "C.turn on the tap", "D.transfer the bottle from the bag to the table" ] }, { "task_id": "0000544", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.flip over and spread out the paper that is laid flat on the table, B.pick up a small block, C.put the orange block on top of the yellow block, D.take the coca-cola can out of the kitchen sink and place it on the kitchen counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000544.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over and spread out the paper that is laid flat on the table", "B.pick up a small block", "C.put the orange block on top of the yellow block", "D.take the coca-cola can out of the kitchen sink and place it on the kitchen counter" ] }, { "task_id": "0000545", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the shovel on the table into the container, B.take out the light bulb by rotating it, C.put the carrot plush toy on the pan, D.use the black eraser to erase the writings on the whiteboard], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000545.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the shovel on the table into the container", "B.take out the light bulb by rotating it", "C.put the carrot plush toy on the pan", "D.use the black eraser to erase the writings on the whiteboard" ] }, { "task_id": "0000546", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.cleaning the table, B.put the brown mug on the desktop, C.pick up the three small bottles from the bottom compartment of the wooden tray and put them on the table, D.turn the water tap handle counterclockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000546.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cleaning the table", "B.put the brown mug on the desktop", "C.pick up the three small bottles from the bottom compartment of the wooden tray and put them on the table", "D.turn the water tap handle counterclockwise" ] }, { "task_id": "0000547", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the bunny toy to the left, B.press the machine button, C.take something out of a drawer, D.hang the white cloth on the black stand] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000547.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bunny toy to the left", "B.press the machine button", "C.take something out of a drawer", "D.hang the white cloth on the black stand" ] }, { "task_id": "0000548", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0014_scene_0002_cfg_0004_038522062288#226", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the brown block in the bowl, B.stack the bowls, C.pour the contents from the bowl into the green bowl, D.take something out of a drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000548.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the brown block in the bowl", "B.stack the bowls", "C.pour the contents from the bowl into the green bowl", "D.take something out of a drawer" ] }, { "task_id": "0000549", "task": "TrajChoice", "id": "RH20T_cfg7_task_0047_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the soccer ball into the goal, B.take the cup off the cup rack, C.put the object into the bowl, D.move the shovel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000549.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.take the cup off the cup rack", "C.put the object into the bowl", "D.move the shovel" ] }, { "task_id": "0000550", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the bowl to the right, B.take a bottle from the tray and put it on the table, C.pick up a bag of things, D.wiping the whiteboard with a dust eraser], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000550.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the right", "B.take a bottle from the tray and put it on the table", "C.pick up a bag of things", "D.wiping the whiteboard with a dust eraser" ] }, { "task_id": "0000551", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.wave the flag, B.take the red bowl out of the sink and place it on the left side of the countertop, C.move the basketball to the right, D.move the object from the bag to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000551.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.take the red bowl out of the sink and place it on the left side of the countertop", "C.move the basketball to the right", "D.move the object from the bag to the table" ] }, { "task_id": "0000552", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the yellow toy from the table and put it in the small pot, B.turn off the power strip by pressing the button, C.press the microwave button, D.stacking blocks (small Lego) one on top of the other every time] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000552.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the yellow toy from the table and put it in the small pot", "B.turn off the power strip by pressing the button", "C.press the microwave button", "D.stacking blocks (small Lego) one on top of the other every time" ] }, { "task_id": "0000553", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bottle in the basin, B.push the keyboard to the left, C.move the pot to the left, D.play jenga] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000553.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the basin", "B.push the keyboard to the left", "C.move the pot to the left", "D.play jenga" ] }, { "task_id": "0000554", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use the gripper to push and close the drawer, B.put the bowl into the microwave, C.pick up the small white container on the counter and put it in the cabinet, D.turn the knob to decrease the volume of the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000554.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.put the bowl into the microwave", "C.pick up the small white container on the counter and put it in the cabinet", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0000555", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0001_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn off the desk lamp by pressing the button, B.pick up the pen from the red mug and put it on the table, C.use the towel to clean the table, D.close the faucet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000555.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.pick up the pen from the red mug and put it on the table", "C.use the towel to clean the table", "D.close the faucet" ] }, { "task_id": "0000556", "task": "TrajChoice", "id": "RH20T_cfg6_task_0107_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.rotate the button on the device counterclockwise, B.put the pen on the table, C.turn the knob to decrease the volume of the speaker, D.put the garbage in the trash can], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000556.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the button on the device counterclockwise", "B.put the pen on the table", "C.turn the knob to decrease the volume of the speaker", "D.put the garbage in the trash can" ] }, { "task_id": "0000557", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0006_cfg_0001_035622060973#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the mug forwards, B.put the full water bottle in between the tape and the empty one on the top part of the counter, C.put the marker in the bowl, D.wave the flag], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000557.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug forwards", "B.put the full water bottle in between the tape and the empty one on the top part of the counter", "C.put the marker in the bowl", "D.wave the flag" ] }, { "task_id": "0000558", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the cup off the cup rack and place it on the table, B.put the throw pillows together, C.put the black bowl inside the pink bowl, D.plug in the bulb holder to the socket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000558.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack and place it on the table", "B.put the throw pillows together", "C.put the black bowl inside the pink bowl", "D.plug in the bulb holder to the socket" ] }, { "task_id": "0000559", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up a large spoon in the pot, B.move the cup to the middle of the table, C.turn off the desk lamp by pressing the button, D.remove the small ball from the small plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000559.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a large spoon in the pot", "B.move the cup to the middle of the table", "C.turn off the desk lamp by pressing the button", "D.remove the small ball from the small plate" ] }, { "task_id": "0000560", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bottle on the table, B.pull out a napkin, C.take the spoon out of the box and put it into the cup, D.move the block from the right side of the obstacle to the left side of the obstacle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000560.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle on the table", "B.pull out a napkin", "C.take the spoon out of the box and put it into the cup", "D.move the block from the right side of the obstacle to the left side of the obstacle" ] }, { "task_id": "0000561", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up a small block, B.put the lid of the jar on the table, C.push the box to the left, D.turn the gas stove knob clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000561.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.put the lid of the jar on the table", "C.push the box to the left", "D.turn the gas stove knob clockwise" ] }, { "task_id": "0000562", "task": "TrajChoice", "id": "RH20T_cfg4_task_0080_user_0015_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.spread the clothes on the desk, B.flip over and spread out the paper that is laid flat on the table, C.move the blue ball to the right, D.chop the pakchoi], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000562.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.spread the clothes on the desk", "B.flip over and spread out the paper that is laid flat on the table", "C.move the blue ball to the right", "D.chop the pakchoi" ] }, { "task_id": "0000563", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp the handle and open the drawer, B.scrubbing the table with a brush, C.put the white object on the object, D.scooping out items from the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000563.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.scrubbing the table with a brush", "C.put the white object on the object", "D.scooping out items from the box" ] }, { "task_id": "0000564", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the blue block in the cup, B.pick the blue bowl and pour the beans into the clear bowl, C.plug in the bulb holder to the socket, D.place the spoon on the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000564.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue block in the cup", "B.pick the blue bowl and pour the beans into the clear bowl", "C.plug in the bulb holder to the socket", "D.place the spoon on the left side of the table" ] }, { "task_id": "0000565", "task": "TrajChoice", "id": "RH20T_cfg1_task_0001_user_0005_scene_0005_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the plate with a rag, B.press the button from top to bottom, C.take the lid off the pot and put it on the counter, D.move the yellow block to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000565.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the plate with a rag", "B.press the button from top to bottom", "C.take the lid off the pot and put it on the counter", "D.move the yellow block to the left" ] }, { "task_id": "0000566", "task": "TrajChoice", "id": "RH20T_cfg2_task_0052_user_0016_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the bottle off the book and put it on the table, B.press on the keyboard, C.grab a basketball, release it and shoot it into the basket, D.take the marker out of the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000566.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bottle off the book and put it on the table", "B.press on the keyboard", "C.grab a basketball, release it and shoot it into the basket", "D.take the marker out of the cup and put it on the table" ] }, { "task_id": "0000567", "task": "TrajChoice", "id": "RH20T_cfg1_task_0075_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.finish setting up the starting position of a chessboard that is almost arranged, B.use the black napkin to wipe the table, C.put the cup on the right side of the table, D.throw the big cup onto the small cup to cover it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000567.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.use the black napkin to wipe the table", "C.put the cup on the right side of the table", "D.throw the big cup onto the small cup to cover it" ] }, { "task_id": "0000568", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the window, B.turn off the power strip by pressing the button, C.unstack the two books, D.take the object and put it near the stove], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000568.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the window", "B.turn off the power strip by pressing the button", "C.unstack the two books", "D.take the object and put it near the stove" ] }, { "task_id": "0000569", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.cover the pot with the lid, B.move the cloth from the table to the hanger, C.put the things in the drawer, D.move the remote to the right side of the arm rest] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000569.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.move the cloth from the table to the hanger", "C.put the things in the drawer", "D.move the remote to the right side of the arm rest" ] }, { "task_id": "0000570", "task": "TrajChoice", "id": "RH20T_cfg1_task_0051_user_0014_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object onto the towel, B.take the dish off the dish rack, C.close the lid of the transparent container, D.move the green bowl to the top] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000570.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object onto the towel", "B.take the dish off the dish rack", "C.close the lid of the transparent container", "D.move the green bowl to the top" ] }, { "task_id": "0000571", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0009_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the white plate into the cubby below the cabinet, B.pick a tissue and use it to wipe the surface, C.pour some of the contents from the measuring cup into the red bowl, D.put things in the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000571.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the white plate into the cubby below the cabinet", "B.pick a tissue and use it to wipe the surface", "C.pour some of the contents from the measuring cup into the red bowl", "D.put things in the drawer" ] }, { "task_id": "0000572", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the towel on the back of the sofa, B.pick up the pen from the grey bowl and put it on the table, C.grasp the handle and close the drawer, D.move the towel to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000572.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the back of the sofa", "B.pick up the pen from the grey bowl and put it on the table", "C.grasp the handle and close the drawer", "D.move the towel to the right" ] }, { "task_id": "0000573", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the grey towel to the right, B.put the colorful object in between the two cushions, C.turn the cup upside down and place it on the table, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000573.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the grey towel to the right", "B.put the colorful object in between the two cushions", "C.turn the cup upside down and place it on the table", "D.press the button from top to bottom" ] }, { "task_id": "0000574", "task": "TrajChoice", "id": "RH20T_cfg7_task_0039_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the corn in the bowl, B.spill the items from the plate onto the table, C.place the black clothing on the backrest of the grey chair, D.pour the water from one cup into another empty cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000574.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the corn in the bowl", "B.spill the items from the plate onto the table", "C.place the black clothing on the backrest of the grey chair", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0000575", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents in the cup into the bowl, B.remove the marker from the bowl and put it on the table, C.move the green holder to the left, D.hit the pool ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000575.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the cup into the bowl", "B.remove the marker from the bowl and put it on the table", "C.move the green holder to the left", "D.hit the pool ball" ] }, { "task_id": "0000576", "task": "TrajChoice", "id": "RH20T_cfg1_task_0044_user_0001_scene_0003_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the on/off button on the kitchen scale, B.put the marker in the container, C.place the green container between the cube and the box, D.pick up a bag of things] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000576.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the on/off button on the kitchen scale", "B.put the marker in the container", "C.place the green container between the cube and the box", "D.pick up a bag of things" ] }, { "task_id": "0000577", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the black towel from the sitting base and put it on the chair back of the chair, B.place the white base of the green button on the scale, C.put the pen in the pen holder, D.turn the hands of a clock], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000577.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the black towel from the sitting base and put it on the chair back of the chair", "B.place the white base of the green button on the scale", "C.put the pen in the pen holder", "D.turn the hands of a clock" ] }, { "task_id": "0000578", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.use the towel to wipe the table, B.move the candy bar to the sink, C.place the block on the scale, D.pour the contents of the cup into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000578.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the table", "B.move the candy bar to the sink", "C.place the block on the scale", "D.pour the contents of the cup into the bowl" ] }, { "task_id": "0000579", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick the yellow block and put it on the plate, B.push the faucet to the right, C.moving the white object from the table to the sink model, D.insert the tip of a large pipette into the holder for large pipette tips], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000579.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the yellow block and put it on the plate", "B.push the faucet to the right", "C.moving the white object from the table to the sink model", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0000580", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the pencil out from the pencil sharpener, B.put the bag on the table into the bowl, C.remove the white cap from the table and put it in the bag on the chair, D.put the marker in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000580.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.put the bag on the table into the bowl", "C.remove the white cap from the table and put it in the bag on the chair", "D.put the marker in the bowl" ] }, { "task_id": "0000581", "task": "TrajChoice", "id": "RH20T_cfg1_task_0052_user_0001_scene_0005_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the book from the top of the white shelf to the second layer, B.turn off the water tap, C.grab a basketball, release it and shoot it into the basket, D.take the transparent bowl on the table into the basket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000581.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the book from the top of the white shelf to the second layer", "B.turn off the water tap", "C.grab a basketball, release it and shoot it into the basket", "D.take the transparent bowl on the table into the basket" ] }, { "task_id": "0000582", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object on the table, B.remove the marker from the cup and put it on the table, C.turn the lock on the window, D.put the toilet paper on its holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000582.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the table", "B.remove the marker from the cup and put it on the table", "C.turn the lock on the window", "D.put the toilet paper on its holder" ] }, { "task_id": "0000583", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the blue circle into the storage basket, B.moving the bottle cap from the bottle to the table, C.pick the marker from the cup and put it on the table, D.pick up the transparent box on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000583.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the blue circle into the storage basket", "B.moving the bottle cap from the bottle to the table", "C.pick the marker from the cup and put it on the table", "D.pick up the transparent box on the table" ] }, { "task_id": "0000584", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0003_cfg_0003_038522062288#462", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the brown bear in the dish, B.take the fleece from the backrest and put it on the seat of the chair, C.put the cloth on the cup, D.put the things in the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000584.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the brown bear in the dish", "B.take the fleece from the backrest and put it on the seat of the chair", "C.put the cloth on the cup", "D.put the things in the drawer" ] }, { "task_id": "0000585", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the pencil out from the pencil sharpener, B.take the orange object from the shelf and put it into the black bowl, C.push the shower curtain to the open position, D.put the white object on the plate, then pick up the yellow block and move it to the left on the counter, then pick up the object on the plate and put it on the right of the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000585.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.take the orange object from the shelf and put it into the black bowl", "C.push the shower curtain to the open position", "D.put the white object on the plate, then pick up the yellow block and move it to the left on the counter, then pick up the object on the plate and put it on the right of the counter" ] }, { "task_id": "0000586", "task": "TrajChoice", "id": "RH20T_cfg6_task_0078_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the calculator from the plate onto the table, B.close the microwave door, C.open the first top drawer, D.move the gray and green blocks onto the brown block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000586.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the calculator from the plate onto the table", "B.close the microwave door", "C.open the first top drawer", "D.move the gray and green blocks onto the brown block" ] }, { "task_id": "0000587", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the white box from the clear container to the left, B.place the bubble ring on the table surrounding the ball, C.move the bottle from the left side of the table to the right side of the table, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000587.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white box from the clear container to the left", "B.place the bubble ring on the table surrounding the ball", "C.move the bottle from the left side of the table to the right side of the table", "D.remove the object from the scale" ] }, { "task_id": "0000588", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the item from in front of the table to behind the table, B.scrubbing the table with a brush, C.pick up a bag of things, D.put the marker on the right side of the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000588.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the item from in front of the table to behind the table", "B.scrubbing the table with a brush", "C.pick up a bag of things", "D.put the marker on the right side of the table" ] }, { "task_id": "0000590", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the faucet to the center of the sink, B.pick up the brush, C.put the marker in the mug, D.put the spoon in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000590.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet to the center of the sink", "B.pick up the brush", "C.put the marker in the mug", "D.put the spoon in the cup" ] }, { "task_id": "0000591", "task": "TrajChoice", "id": "RH20T_cfg5_task_0029_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the silver lid of the pepper shaker and put it in the blue bowl, B.put the hat on the hook, C.pull open the drawer, D.press the button from top to bottom], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000591.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the silver lid of the pepper shaker and put it in the blue bowl", "B.put the hat on the hook", "C.pull open the drawer", "D.press the button from top to bottom" ] }, { "task_id": "0000592", "task": "TrajChoice", "id": "RH20T_cfg1_task_0083_user_0015_scene_0001_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick the marker and put it in the cup, B.swat with a flyswatter, C.take the lid off the bottle and put it on the table, D.put the orange cup on the blue object] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000592.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the marker and put it in the cup", "B.swat with a flyswatter", "C.take the lid off the bottle and put it on the table", "D.put the orange cup on the blue object" ] }, { "task_id": "0000593", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the leftmost drawer door to close the drawer, B.move the cup from the right to the left of the laptop, C.transfer the box from the table into the bag, D.turn the knob] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000593.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the leftmost drawer door to close the drawer", "B.move the cup from the right to the left of the laptop", "C.transfer the box from the table into the bag", "D.turn the knob" ] }, { "task_id": "0000594", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the remote controller button, B.remove the marker from the mug and put it on the counter, C.put the green bottle in the cardboard box, D.turn on the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000594.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the remote controller button", "B.remove the marker from the mug and put it on the counter", "C.put the green bottle in the cardboard box", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000595", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the object from the scale and place it on top of the large block next to the scale, B.the thing that spills the cup, C.put the green object from the tabletop into the sink, D.take the pen out of the cup and put it on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000595.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the scale and place it on top of the large block next to the scale", "B.the thing that spills the cup", "C.put the green object from the tabletop into the sink", "D.take the pen out of the cup and put it on the counter" ] }, { "task_id": "0000596", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.build with large Megabloks for the nth time with n blocks, B.put the orange object into the cup, C.sliding a black towel on the desk, D.use the wooden spoon to mix in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000596.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.put the orange object into the cup", "C.sliding a black towel on the desk", "D.use the wooden spoon to mix in the bowl" ] }, { "task_id": "0000597", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the tape on the wooden rack, B.turn on the switch on the wall, C.remove the marker from the mug and place it on the table, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000597.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tape on the wooden rack", "B.turn on the switch on the wall", "C.remove the marker from the mug and place it on the table", "D.push the soccer ball into the goal" ] }, { "task_id": "0000598", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pull out the chair then put the sweater on the chair, B.put the garbage in the trash can, C.turn off the power strip switch, D.place the paper with the back side up on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000598.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out the chair then put the sweater on the chair", "B.put the garbage in the trash can", "C.turn off the power strip switch", "D.place the paper with the back side up on the table" ] }, { "task_id": "0000599", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the knob to decrease the volume of the speaker, B.push up the faucet switch to turn on the water, C.put the object on the table, D.take something out of a drawer] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000599.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.push up the faucet switch to turn on the water", "C.put the object on the table", "D.take something out of a drawer" ] }, { "task_id": "0000600", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the cup off the cup rack, B.take the cup off the cup rack, C.remove the object from the scale, D.turn off the lamp] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000600.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.take the cup off the cup rack", "C.remove the object from the scale", "D.turn off the lamp" ] }, { "task_id": "0000601", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the green marker in the bowl, B.unfolded paper, C.stacking blocks (small Lego) randomly one at a time, D.transfer the spoon from the cup to the mat], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000601.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green marker in the bowl", "B.unfolded paper", "C.stacking blocks (small Lego) randomly one at a time", "D.transfer the spoon from the cup to the mat" ] }, { "task_id": "0000602", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0001_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the lid on the pot, B.turn off the desk lamp by pressing the button, C.press the piano keys, D.pick up the bottle from the table and put it on the bottle holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000602.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the pot", "B.turn off the desk lamp by pressing the button", "C.press the piano keys", "D.pick up the bottle from the table and put it on the bottle holder" ] }, { "task_id": "0000603", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the microwave door, B.press the lid of the bottle, C.put the blocks on the table, D.put the white object in the blue box] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000603.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.press the lid of the bottle", "C.put the blocks on the table", "D.put the white object in the blue box" ] }, { "task_id": "0000604", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the object to the back of the sofa, B.put the orange towel on the back of the chair, C.push an object with obstacles, D.put the yellow marker in the white mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000604.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the back of the sofa", "B.put the orange towel on the back of the chair", "C.push an object with obstacles", "D.put the yellow marker in the white mug" ] }, { "task_id": "0000605", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.fold the orange piece of clothing on the desk, B.move an object from one box to another, C.open the drawer, D.stacking blocks] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000605.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the orange piece of clothing on the desk", "B.move an object from one box to another", "C.open the drawer", "D.stacking blocks" ] }, { "task_id": "0000606", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open a sliding window, B.open the tap, C.push the soccer ball into the goal, D.place the cylinder on the right side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000606.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.open the tap", "C.push the soccer ball into the goal", "D.place the cylinder on the right side of the table" ] }, { "task_id": "0000607", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the cube on the sphere, B.place the handset of the telephone on the phone cradle, C.put the white and green pack inside the open upper cabinet, D.rotate the silver stand], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000607.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cube on the sphere", "B.place the handset of the telephone on the phone cradle", "C.put the white and green pack inside the open upper cabinet", "D.rotate the silver stand" ] }, { "task_id": "0000608", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0002_scene_0001_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the green block into the black bowl, B.grab a basketball, release it and shoot it into the basket, C.place the bowl on the stove, D.pull out a napkin], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000608.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block into the black bowl", "B.grab a basketball, release it and shoot it into the basket", "C.place the bowl on the stove", "D.pull out a napkin" ] }, { "task_id": "0000609", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the orange marker in the bowl, B.take the photo frame down from the bracket, C.pick up the block from the tray, D.put the pen into the pen holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000609.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange marker in the bowl", "B.take the photo frame down from the bracket", "C.pick up the block from the tray", "D.put the pen into the pen holder" ] }, { "task_id": "0000610", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0015_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.play jenga, C.press the power strip, D.put the marker on the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000610.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.play jenga", "C.press the power strip", "D.put the marker on the desk" ] }, { "task_id": "0000611", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the cup, B.folding table towel, C.close the drawer, D.assemble: attach the bubble ring to the ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000611.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup", "B.folding table towel", "C.close the drawer", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0000612", "task": "TrajChoice", "id": "RH20T_cfg3_task_0088_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the right door of the cabinet above the air fryer, B.put the bottle into the bag, C.take the blackboard eraser to wipe the blackboard, D.move to the block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000612.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the right door of the cabinet above the air fryer", "B.put the bottle into the bag", "C.take the blackboard eraser to wipe the blackboard", "D.move to the block" ] }, { "task_id": "0000613", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0020_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.stir the contents in the green bowl using a spatula, B.drag the plate to the goal post after holding it down, C.put the item on the table, D.pour the contents in the brown bowl into the clear bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000613.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stir the contents in the green bowl using a spatula", "B.drag the plate to the goal post after holding it down", "C.put the item on the table", "D.pour the contents in the brown bowl into the clear bowl" ] }, { "task_id": "0000614", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the spoon from the plastic bag to the countertop, B.put the spoon in the cup on the table, C.pick up the cup, D.put the knife on the knife rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000614.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the spoon from the plastic bag to the countertop", "B.put the spoon in the cup on the table", "C.pick up the cup", "D.put the knife on the knife rack" ] }, { "task_id": "0000615", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the object on the shelf, B.spread the towel on the table, C.pour the contents in the blue bowl into the clear box and then place the blue bowl on the table, D.turn on the coffee machine], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000615.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the shelf", "B.spread the towel on the table", "C.pour the contents in the blue bowl into the clear box and then place the blue bowl on the table", "D.turn on the coffee machine" ] }, { "task_id": "0000616", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the toilet paper on the holder, B.rotate the button on the appliance clockwise, C.put an orange circle on the table, D.put the red object in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000616.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on the holder", "B.rotate the button on the appliance clockwise", "C.put an orange circle on the table", "D.put the red object in the bowl" ] }, { "task_id": "0000617", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the microwave door, B.turn on the desk lamp by pressing the button, C.rotate the faucet nozzle clockwise, D.put the square on the table into the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000617.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.turn on the desk lamp by pressing the button", "C.rotate the faucet nozzle clockwise", "D.put the square on the table into the box" ] }, { "task_id": "0000618", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the glue stick inside the bowl, B.press a button horizontally with obstacles, C.move the cloth, D.play the drum] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000618.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glue stick inside the bowl", "B.press a button horizontally with obstacles", "C.move the cloth", "D.play the drum" ] }, { "task_id": "0000619", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use a towel to wipe the pan, B.take the marker out of the bowl and put it on the table, C.transfer the things from the plate and then move the two cups from the table into the plate, D.remove the object from the scale and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000619.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the pan", "B.take the marker out of the bowl and put it on the table", "C.transfer the things from the plate and then move the two cups from the table into the plate", "D.remove the object from the scale and place it on the table" ] }, { "task_id": "0000620", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.installing a light bulb by rotating it, B.put the lid on the table, C.pick up the clothes from the table and put them in the box, D.put the orange can in the sink on the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000620.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.installing a light bulb by rotating it", "B.put the lid on the table", "C.pick up the clothes from the table and put them in the box", "D.put the orange can in the sink on the left" ] }, { "task_id": "0000622", "task": "TrajChoice", "id": "RH20T_cfg4_task_0053_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the cupboard door, put the brown block into the cupboard and close it, B.place the white object on the shelf, C.use a clamp, D.take the marker out of the bowl and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000622.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cupboard door, put the brown block into the cupboard and close it", "B.place the white object on the shelf", "C.use a clamp", "D.take the marker out of the bowl and put it on the table" ] }, { "task_id": "0000623", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.rotate the faucet switch, B.put the seasoning box on the stove, C.put the pen into the pen holder, D.pour the contents from the transparent box into the black pot, and cover the pot with the lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000623.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the faucet switch", "B.put the seasoning box on the stove", "C.put the pen into the pen holder", "D.pour the contents from the transparent box into the black pot, and cover the pot with the lid" ] }, { "task_id": "0000624", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull out the faucet head, B.put the plush toy on the right side of the lid, C.open a box, D.open the oven] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000624.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out the faucet head", "B.put the plush toy on the right side of the lid", "C.open a box", "D.open the oven" ] }, { "task_id": "0000625", "task": "TrajChoice", "id": "RH20T_cfg6_task_0089_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the zip to the left, B.wipe the counter with the paper towel, C.move the yellow object to the right, D.push the block around the golden pig], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000625.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the zip to the left", "B.wipe the counter with the paper towel", "C.move the yellow object to the right", "D.push the block around the golden pig" ] }, { "task_id": "0000626", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer with a large spoon from a white bowl to a red bowl, B.put the orange cup inside the black bowl, C.place the black masking tape on the plate, D.pick up the white mug on the right side of the countertop, pour the liquid out of the mug and into the sink, set the mug down on the left side of the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000626.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer with a large spoon from a white bowl to a red bowl", "B.put the orange cup inside the black bowl", "C.place the black masking tape on the plate", "D.pick up the white mug on the right side of the countertop, pour the liquid out of the mug and into the sink, set the mug down on the left side of the countertop" ] }, { "task_id": "0000627", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the bag on the shelf, B.close a sliding window, C.turn off the third switch from you on the adapter, D.press the machine switch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000627.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag on the shelf", "B.close a sliding window", "C.turn off the third switch from you on the adapter", "D.press the machine switch" ] }, { "task_id": "0000630", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the lid from the white mug, B.grab the block and place it at the designated location, C.take the roll of paper down from the shelf, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000630.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the white mug", "B.grab the block and place it at the designated location", "C.take the roll of paper down from the shelf", "D.put the cup on the cup rack" ] }, { "task_id": "0000631", "task": "TrajChoice", "id": "RH20T_cfg5_task_0025_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold a piece of paper that has been folded once (with one end weighed down), B.open the counter door, C.place the bowl on the right side of the table, D.close the cupboard after taking out the items] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000631.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once (with one end weighed down)", "B.open the counter door", "C.place the bowl on the right side of the table", "D.close the cupboard after taking out the items" ] }, { "task_id": "0000632", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the cup slightly to the right, B.move the plush toy, C.press the button from top to bottom, D.rotate the steering wheel 90 degrees counterclockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000632.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup slightly to the right", "B.move the plush toy", "C.press the button from top to bottom", "D.rotate the steering wheel 90 degrees counterclockwise" ] }, { "task_id": "0000633", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.insert the pencil into the pencil sharpener, B.slide the green towel to the right, C.put the pen from the container on the table, D.open the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000633.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.slide the green towel to the right", "C.put the pen from the container on the table", "D.open the drawer" ] }, { "task_id": "0000634", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the marker and put it in the cup, B.pick up the package from the desktop and place it to the left of its original position, C.take out two bottles from the clear box on the left and place them on the mat, D.move the white cup to the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000634.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the cup", "B.pick up the package from the desktop and place it to the left of its original position", "C.take out two bottles from the clear box on the left and place them on the mat", "D.move the white cup to the right side of the table" ] }, { "task_id": "0000635", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0014_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drop a coin into a piggy bank, B.put the cup on the table, C.move the cup to the right side of the table, then put the marker into the cup, D.put the rubber band around the cup] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000635.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.put the cup on the table", "C.move the cup to the right side of the table, then put the marker into the cup", "D.put the rubber band around the cup" ] }, { "task_id": "0000636", "task": "TrajChoice", "id": "RH20T_cfg6_task_0050_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the machine cover, B.pull out a napkin, C.put the dish on the dish rack, D.push the cup to the right on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000636.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the machine cover", "B.pull out a napkin", "C.put the dish on the dish rack", "D.push the cup to the right on the table" ] }, { "task_id": "0000637", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0014_scene_0001_cfg_0001_819112071037#184", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.clean the table with a cloth, B.put the block on the side of the table, C.put the things in the drawer, D.fold the green rag in half by placing one corner on the other] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000637.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.put the block on the side of the table", "C.put the things in the drawer", "D.fold the green rag in half by placing one corner on the other" ] }, { "task_id": "0000638", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.play the drum, B.pick up a bottle from the table and place it inside the container on the left, C.take up the kitchen utensils, D.close the microwave], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000638.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.pick up a bottle from the table and place it inside the container on the left", "C.take up the kitchen utensils", "D.close the microwave" ] }, { "task_id": "0000639", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the towel on the table, B.grab a basketball, release it and shoot it into the basket, C.press down on the toaster lever, D.move the object onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000639.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the table", "B.grab a basketball, release it and shoot it into the basket", "C.press down on the toaster lever", "D.move the object onto the table" ] }, { "task_id": "0000641", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the cup on the table, B.move the orange tape from the drawer to the counter, C.press the button from top to bottom, D.put the plush toy on the green book] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000641.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the table", "B.move the orange tape from the drawer to the counter", "C.press the button from top to bottom", "D.put the plush toy on the green book" ] }, { "task_id": "0000642", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the plate from the dishwasher and put it on the top of the white plate, B.insert the tip of a large pipette into the holder for large pipette tips, C.pick the marker from the cup and put it on the table, D.turn on the faucet] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000642.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the plate from the dishwasher and put it on the top of the white plate", "B.insert the tip of a large pipette into the holder for large pipette tips", "C.pick the marker from the cup and put it on the table", "D.turn on the faucet" ] }, { "task_id": "0000643", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the toilet paper towards the holder, B.wrap the gloves in the yellow towel, C.put the green marker inside the white bowl, D.turn on the light switch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000643.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the toilet paper towards the holder", "B.wrap the gloves in the yellow towel", "C.put the green marker inside the white bowl", "D.turn on the light switch" ] }, { "task_id": "0000644", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the bowl on the table, B.close the cupboard, C.put the garbage in the trash can, D.insert the object into the black shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000644.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl on the table", "B.close the cupboard", "C.put the garbage in the trash can", "D.insert the object into the black shelf" ] }, { "task_id": "0000645", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0004_cfg_0004_104122062823#251", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the blue object and put it on the table, B.put the garbage in the trash can, C.move the desk lamp to the upper right corner of the table, D.pick up the Rubik's cube and put it on top of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000645.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blue object and put it on the table", "B.put the garbage in the trash can", "C.move the desk lamp to the upper right corner of the table", "D.pick up the Rubik's cube and put it on top of the cabinet" ] }, { "task_id": "0000647", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0014_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.scrubbing the table with a brush, B.remove the marker from the mug and place it on the table, C.remove the green and white cloth from the wooden board, D.turn the faucet counterclockwise to shut off the water], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000647.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.remove the marker from the mug and place it on the table", "C.remove the green and white cloth from the wooden board", "D.turn the faucet counterclockwise to shut off the water" ] }, { "task_id": "0000648", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.use the towel to wipe the plate, B.remove the object from the scale, C.use the white and red towel to wipe the table top, D.adjusting the pillows on the sofa], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000648.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the plate", "B.remove the object from the scale", "C.use the white and red towel to wipe the table top", "D.adjusting the pillows on the sofa" ] }, { "task_id": "0000649", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the measuring cup to the right, B.pour the object from the transparent box into the bowl, C.transfer the object from the box to the bowl, D.slide the outer casing onto the gift box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000649.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the measuring cup to the right", "B.pour the object from the transparent box into the bowl", "C.transfer the object from the box to the bowl", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0000650", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grasp the handle and close the drawer, B.move the grey object forward, C.push the pot on the stove to the left side, D.turn on the heater], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000650.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.move the grey object forward", "C.push the pot on the stove to the left side", "D.turn on the heater" ] }, { "task_id": "0000651", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.unfold the leg of the glasses (with one hand), B.put the toy on the table, C.put the power adapter into the cardboard box, D.put the glass cup onto the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000651.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.put the toy on the table", "C.put the power adapter into the cardboard box", "D.put the glass cup onto the shelf" ] }, { "task_id": "0000652", "task": "TrajChoice", "id": "RH20T_cfg5_task_0067_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turning on the faucet, B.put the green plush toy in the blue box, C.press the button, D.take the metal can out of the cupboard] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000652.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turning on the faucet", "B.put the green plush toy in the blue box", "C.press the button", "D.take the metal can out of the cupboard" ] }, { "task_id": "0000653", "task": "TrajChoice", "id": "RH20T_cfg1_task_0043_user_0016_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup to the right, B.put the snack packaging bag into the bag, C.unscrew the lid from the jar, D.pick the object from the table and put it in the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000653.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.put the snack packaging bag into the bag", "C.unscrew the lid from the jar", "D.pick the object from the table and put it in the cup" ] }, { "task_id": "0000654", "task": "TrajChoice", "id": "RH20T_cfg3_task_0043_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the black jersey on the table, B.pick up the lid and close the pot, C.put the bowl on the countertop, D.open the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000654.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black jersey on the table", "B.pick up the lid and close the pot", "C.put the bowl on the countertop", "D.open the jar" ] }, { "task_id": "0000655", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.slide the towel to the left on the table, B.put the green book into the box, C.the contents of the bottle, D.take the roll of paper down from the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000655.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the towel to the left on the table", "B.put the green book into the box", "C.the contents of the bottle", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0000656", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0012_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.clean the table with a cloth, B.put the tape on the plate, C.put the remote control on the table into the green box, D.place the brush on the pen rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000656.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.put the tape on the plate", "C.put the remote control on the table into the green box", "D.place the brush on the pen rack" ] }, { "task_id": "0000657", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0003_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the white object to the arm of the couch, B.grab a basketball, release it and shoot it into the basket, C.remove the black lid from the grey pot, D.pour the content of the blue cup onto the green plate] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000657.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white object to the arm of the couch", "B.grab a basketball, release it and shoot it into the basket", "C.remove the black lid from the grey pot", "D.pour the content of the blue cup onto the green plate" ] }, { "task_id": "0000658", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the packaging bag in the bowl, B.move the towel to the middle of the bed, C.plug the plug into the socket, D.move the tap to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000658.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the packaging bag in the bowl", "B.move the towel to the middle of the bed", "C.plug the plug into the socket", "D.move the tap to the right" ] }, { "task_id": "0000659", "task": "TrajChoice", "id": "RH20T_cfg4_task_0031_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.cover the box, B.remove the marker from the bowl and put it on the table, C.move the white pot from the center of the table to the right side of the table, D.press the bread machine button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000659.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.remove the marker from the bowl and put it on the table", "C.move the white pot from the center of the table to the right side of the table", "D.press the bread machine button" ] }, { "task_id": "0000660", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow object in the red bowl, B.pour the water from one cup into another empty cup, C.open a sliding window, D.press the first switch to the right of the power socket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000660.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow object in the red bowl", "B.pour the water from one cup into another empty cup", "C.open a sliding window", "D.press the first switch to the right of the power socket" ] }, { "task_id": "0000661", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the tap faucet, B.put the marker in the white cup, C.hang the clothes over the backrest of the chair, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000661.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the tap faucet", "B.put the marker in the white cup", "C.hang the clothes over the backrest of the chair", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000662", "task": "TrajChoice", "id": "RH20T_cfg1_task_0084_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the remote control in the middle of the cushion, B.assemble: attach the bubble ring to the ball, C.take the cup off the cup rack, D.put the marker inside the green cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000662.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the remote control in the middle of the cushion", "B.assemble: attach the bubble ring to the ball", "C.take the cup off the cup rack", "D.put the marker inside the green cup" ] }, { "task_id": "0000663", "task": "TrajChoice", "id": "RH20T_cfg4_task_0111_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the dish on the dish rack, B.use the tissue to wipe the inside of the striped bowl, C.remove the grinding blade from the blender, D.put the object with the corresponding shape into the corresponding hole], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000663.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the dish on the dish rack", "B.use the tissue to wipe the inside of the striped bowl", "C.remove the grinding blade from the blender", "D.put the object with the corresponding shape into the corresponding hole" ] }, { "task_id": "0000664", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the black lid on top of the bottle on the right, B.chop the chili peppers, C.take out a Hanoi block and place it on the table behind the shelf, D.insert the pencil into the pencil sharpener] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000664.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black lid on top of the bottle on the right", "B.chop the chili peppers", "C.take out a Hanoi block and place it on the table behind the shelf", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0000665", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block on the scale, B.screw the lid onto the jar (needs to be twisted), C.put the bottle on the table, D.put the towel into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000665.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.screw the lid onto the jar (needs to be twisted)", "C.put the bottle on the table", "D.put the towel into the box" ] }, { "task_id": "0000666", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the pen in the bowl on the table, B.pick up and place an object with obstacles, C.put the egg in the red bowl on the right, D.move the two pillows to the right] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000666.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the bowl on the table", "B.pick up and place an object with obstacles", "C.put the egg in the red bowl on the right", "D.move the two pillows to the right" ] }, { "task_id": "0000667", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the contents in the orange cup into the green bowl, B.put the object from the silver bowl into the plate, C.move the black object to the right side of the table, D.pick up a small block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000667.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the orange cup into the green bowl", "B.put the object from the silver bowl into the plate", "C.move the black object to the right side of the table", "D.pick up a small block" ] }, { "task_id": "0000668", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.dial a number on an old rotary phone, B.remove the yellow rubber duck from the sink, C.turn on the light switch, D.move the blocks to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000668.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.dial a number on an old rotary phone", "B.remove the yellow rubber duck from the sink", "C.turn on the light switch", "D.move the blocks to the right side of the table" ] }, { "task_id": "0000669", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.cover the pot with the lid, B.take the pen out of the cup and place it on the table, C.slide the orange block forward on the table, D.push the green box to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000669.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.take the pen out of the cup and place it on the table", "C.slide the orange block forward on the table", "D.push the green box to the right" ] }, { "task_id": "0000670", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the toaster, B.put the circular tube into the drawer from the table, C.turn the faucet to the left, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000670.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the toaster", "B.put the circular tube into the drawer from the table", "C.turn the faucet to the left", "D.pick up a bag of things" ] }, { "task_id": "0000671", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the green sphere to the right, B.sweeping a small block with the gripper from right to left on the table, C.push the toaster lever up, D.open the folded clothes], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000671.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green sphere to the right", "B.sweeping a small block with the gripper from right to left on the table", "C.push the toaster lever up", "D.open the folded clothes" ] }, { "task_id": "0000672", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0020_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the small clear bottle to the left, B.put the snack packet in the sink, C.pick up the object from the bed and put it on the blue shelf, D.screw the lid onto the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000672.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small clear bottle to the left", "B.put the snack packet in the sink", "C.pick up the object from the bed and put it on the blue shelf", "D.screw the lid onto the jar" ] }, { "task_id": "0000673", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the remote control on the TV stand, B.put the gloves on the table, C.remove the object from the scale, D.put the marker into the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000673.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the remote control on the TV stand", "B.put the gloves on the table", "C.remove the object from the scale", "D.put the marker into the container" ] }, { "task_id": "0000674", "task": "TrajChoice", "id": "RH20T_cfg4_task_0053_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the beverage from the countertop to the bowl, B.use a clamp, C.water the plant, D.put the pen into the coffee cup, then take the pen out of the coffee cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000674.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the beverage from the countertop to the bowl", "B.use a clamp", "C.water the plant", "D.put the pen into the coffee cup, then take the pen out of the coffee cup" ] }, { "task_id": "0000675", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the bowl and put it on the table, B.transfer the green block from the table to the black bowl, C.move the black object to the back of the sofa, D.pull out a napkin] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000675.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the bowl and put it on the table", "B.transfer the green block from the table to the black bowl", "C.move the black object to the back of the sofa", "D.pull out a napkin" ] }, { "task_id": "0000676", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the book with some green from the book rack and put it on the table, B.open the pot lid, C.pull the towel to the left, D.turn on the water tap], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000676.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the book with some green from the book rack and put it on the table", "B.open the pot lid", "C.pull the towel to the left", "D.turn on the water tap" ] }, { "task_id": "0000677", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the cup forward, B.take the cup off the cup rack, C.place the chess pieces on the chessboard, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000677.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup forward", "B.take the cup off the cup rack", "C.place the chess pieces on the chessboard", "D.play the drum" ] }, { "task_id": "0000678", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the faucet to the left, B.take the cup off the cup rack, C.move the object to the specified location, D.put the white cloth from the back of the chair onto the seat], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000678.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet to the left", "B.take the cup off the cup rack", "C.move the object to the specified location", "D.put the white cloth from the back of the chair onto the seat" ] }, { "task_id": "0000679", "task": "TrajChoice", "id": "RH20T_cfg6_task_0015_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the grill sandwich maker, B.remove the can opener from the drawer, C.move the corn from the right side of the table to the left side of the table, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000679.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the grill sandwich maker", "B.remove the can opener from the drawer", "C.move the corn from the right side of the table to the left side of the table", "D.play the drum" ] }, { "task_id": "0000680", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0014_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the block stack from the table to the left, B.assemble: attach the bubble ring to the ball, C.moving a white object from the drawer to the table, D.close the microwave door and rotate the microwave button clockwise] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000680.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block stack from the table to the left", "B.assemble: attach the bubble ring to the ball", "C.moving a white object from the drawer to the table", "D.close the microwave door and rotate the microwave button clockwise" ] }, { "task_id": "0000681", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push the small block from left to right, B.remove the right slide sandal from the bottom shelf and place it on the topmost shelf of the shoe rack, C.turn on the faucet, D.play jenga] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000681.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.remove the right slide sandal from the bottom shelf and place it on the topmost shelf of the shoe rack", "C.turn on the faucet", "D.play jenga" ] }, { "task_id": "0000682", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.plug in the bulb holder with a bulb to the socket, B.screw the lid onto the jar (requires rotating), C.put the green square into the box, D.press the toaster lever] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000682.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder with a bulb to the socket", "B.screw the lid onto the jar (requires rotating)", "C.put the green square into the box", "D.press the toaster lever" ] }, { "task_id": "0000683", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.assemble: attach the bubble ring to the ball, B.wipe the tabletop with a towel, C.sliding the white bag on the desk, D.push the last word tile to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000683.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.wipe the tabletop with a towel", "C.sliding the white bag on the desk", "D.push the last word tile to the right" ] }, { "task_id": "0000684", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the small block on the left and move it to the right, B.move the cup slightly to the left, C.put the white object into the cabinet, D.take everything out of the gift box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000684.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.move the cup slightly to the left", "C.put the white object into the cabinet", "D.take everything out of the gift box" ] }, { "task_id": "0000685", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0003_cfg_0003_104122062823#184", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take everything out of the gift box, B.move the spoon from the cup to the table, C.play the drum, D.move the mug to the right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000685.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.move the spoon from the cup to the table", "C.play the drum", "D.move the mug to the right" ] }, { "task_id": "0000686", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the black notebook on the right side of the windowsill, B.turn the cup upside down and place it on the table with the opening facing down, C.take the cup out of the sink, put it on the countertop, then use the towel to wipe it inside, D.press a button from top to bottom with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000686.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black notebook on the right side of the windowsill", "B.turn the cup upside down and place it on the table with the opening facing down", "C.take the cup out of the sink, put it on the countertop, then use the towel to wipe it inside", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0000688", "task": "TrajChoice", "id": "RH20T_cfg3_task_0070_user_0010_scene_0007_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the upper drawer, B.open a sliding window, C.move the button base from the shelf to the table, D.pull the pot on the table to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000688.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the upper drawer", "B.open a sliding window", "C.move the button base from the shelf to the table", "D.pull the pot on the table to the right" ] }, { "task_id": "0000689", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents of the bowl into the green bowl, B.hold a small block with the gripper and sweep it from left to right on the table, C.turn on the lamp, D.put the pieces on the chessboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000689.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl into the green bowl", "B.hold a small block with the gripper and sweep it from left to right on the table", "C.turn on the lamp", "D.put the pieces on the chessboard" ] }, { "task_id": "0000690", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take something out of a drawer, B.turn off the black electric kettle then open the lid, C.pick up the book and put it on the sofa arm, D.transfer the coffee capsule from the coffee machine to the countertop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000690.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.turn off the black electric kettle then open the lid", "C.pick up the book and put it on the sofa arm", "D.transfer the coffee capsule from the coffee machine to the countertop" ] }, { "task_id": "0000692", "task": "TrajChoice", "id": "RH20T_cfg6_task_0085_user_0007_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup slightly to the left, B.remove the bubble ring, C.place the two white papers in the waste bin on the right, D.transfer the cylinder from the right side of the table to the left side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000692.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup slightly to the left", "B.remove the bubble ring", "C.place the two white papers in the waste bin on the right", "D.transfer the cylinder from the right side of the table to the left side of the table" ] }, { "task_id": "0000693", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour out the things from the basket, B.press the button from top to bottom, C.use the white and red towel at the back to wipe the tray, D.take the pencil out from the pencil sharpener], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000693.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour out the things from the basket", "B.press the button from top to bottom", "C.use the white and red towel at the back to wipe the tray", "D.take the pencil out from the pencil sharpener" ] }, { "task_id": "0000694", "task": "TrajChoice", "id": "RH20T_cfg1_task_0125_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull up the lever, B.folding a towel, C.move the sock from the table to the black plate, D.turn on the light], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000694.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull up the lever", "B.folding a towel", "C.move the sock from the table to the black plate", "D.turn on the light" ] }, { "task_id": "0000695", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the spoon from the cup and place it on the table, B.push the drawer to close, C.pull up the lever, D.pull the cabinet door to the open position, take out the white plate and the spotted cup from the bottom layer of the cabinet and place them on the table, then push the cabinet door to the closed position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000695.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the spoon from the cup and place it on the table", "B.push the drawer to close", "C.pull up the lever", "D.pull the cabinet door to the open position, take out the white plate and the spotted cup from the bottom layer of the cabinet and place them on the table, then push the cabinet door to the closed position" ] }, { "task_id": "0000696", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grab the block and place it at the designated location, B.put the scissors in the drawer properly, C.press the water dispenser button, D.take out the light bulb by rotating it] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000696.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.put the scissors in the drawer properly", "C.press the water dispenser button", "D.take out the light bulb by rotating it" ] }, { "task_id": "0000697", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the white piece of paper to the right side, B.put the green ball on the counter, C.press the button on the power strip, D.place the black marker in the white mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000697.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white piece of paper to the right side", "B.put the green ball on the counter", "C.press the button on the power strip", "D.place the black marker in the white mug" ] }, { "task_id": "0000698", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0020_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.slide the pillow on the bed, B.move the yellow block from the right side of the table to the left side of the table, C.pick the stuffed pineapple and put it in the basket, D.put the toilet paper on its holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000698.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the pillow on the bed", "B.move the yellow block from the right side of the table to the left side of the table", "C.pick the stuffed pineapple and put it in the basket", "D.put the toilet paper on its holder" ] }, { "task_id": "0000700", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the end of the data cable into the box, B.turn on the switch of the first slot of the extension cord, C.taking out the light bulb by rotating it, D.transfer the object from the table to the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000700.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the end of the data cable into the box", "B.turn on the switch of the first slot of the extension cord", "C.taking out the light bulb by rotating it", "D.transfer the object from the table to the box" ] }, { "task_id": "0000701", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.flip over and spread out the paper that is laid flat on the table, B.put the glass lid on the black pot, C.take the black lid from the top of the white can and put it on the table, D.put the cup on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000701.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over and spread out the paper that is laid flat on the table", "B.put the glass lid on the black pot", "C.take the black lid from the top of the white can and put it on the table", "D.put the cup on the table" ] }, { "task_id": "0000702", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the lid of the box, B.pick up the small block on the left and move it to the right, C.stirring with a fork in the bowl, D.stack the cups] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000702.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid of the box", "B.pick up the small block on the left and move it to the right", "C.stirring with a fork in the bowl", "D.stack the cups" ] }, { "task_id": "0000703", "task": "TrajChoice", "id": "RH20T_cfg5_task_0075_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the tap, B.put the spoon on the table, C.place the white chess pieces on the corresponding positions of the chessboard, D.close the lid of the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000703.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the tap", "B.put the spoon on the table", "C.place the white chess pieces on the corresponding positions of the chessboard", "D.close the lid of the box" ] }, { "task_id": "0000704", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0010_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the bottle and put it in the bowl, B.play the drum, C.take the towel hanging on the wall and use it to wipe the counter, D.pick up the small block on the left and move it to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000704.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle and put it in the bowl", "B.play the drum", "C.take the towel hanging on the wall and use it to wipe the counter", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0000707", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the spoon into the box, B.turn on the desk lamp by pressing the button, C.place the block on the block, D.move the pot's lid to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000707.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon into the box", "B.turn on the desk lamp by pressing the button", "C.place the block on the block", "D.move the pot's lid to the table" ] }, { "task_id": "0000708", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the yellow block from the table and put it in the silver pot, B.grasp the handle and close the drawer, C.place the square on the left side of the cardboard to the black circle on the cardboard, D.wipe the counter using the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000708.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the yellow block from the table and put it in the silver pot", "B.grasp the handle and close the drawer", "C.place the square on the left side of the cardboard to the black circle on the cardboard", "D.wipe the counter using the towel" ] }, { "task_id": "0000709", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0014_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the red button on the orange base, B.put the purple plush toy from the table onto the plate, C.take the paper glue out of the mug and place it on the black box, D.assemble one piece of a puzzle] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000709.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the red button on the orange base", "B.put the purple plush toy from the table onto the plate", "C.take the paper glue out of the mug and place it on the black box", "D.assemble one piece of a puzzle" ] }, { "task_id": "0000710", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0020_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the red button on the white base, B.pull the faucet handle upwards, C.push an object with obstacles, D.put the knife on the cutting board] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000710.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the red button on the white base", "B.pull the faucet handle upwards", "C.push an object with obstacles", "D.put the knife on the cutting board" ] }, { "task_id": "0000711", "task": "TrajChoice", "id": "RH20T_cfg2_task_0207_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.chop the chili peppers, B.put the plastic grapes in the bowl, C.moving the object from the pen holder to the table, D.place the bottle to the left side of the transparent container], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000711.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the chili peppers", "B.put the plastic grapes in the bowl", "C.moving the object from the pen holder to the table", "D.place the bottle to the left side of the transparent container" ] }, { "task_id": "0000712", "task": "TrajChoice", "id": "RH20T_cfg1_task_0043_user_0016_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the white plate out of the dishwasher and move it to the left, B.put the marker in the pot, C.unscrew the lid from the jar, D.take the packaging bag from the desk and put it into the kettle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000712.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the white plate out of the dishwasher and move it to the left", "B.put the marker in the pot", "C.unscrew the lid from the jar", "D.take the packaging bag from the desk and put it into the kettle" ] }, { "task_id": "0000713", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the bottle of medicine on the table, B.remove the cables from the plastic bag, C.remove the bubble ring from the assembled bubble ring and ball, D.turn on the water tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000713.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle of medicine on the table", "B.remove the cables from the plastic bag", "C.remove the bubble ring from the assembled bubble ring and ball", "D.turn on the water tap" ] }, { "task_id": "0000714", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.spread a towel on the bed, B.pour the water from one cup into another empty cup, C.pick up the small block on the left and move it to the right, D.press the button from top to bottom], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000714.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.spread a towel on the bed", "B.pour the water from one cup into another empty cup", "C.pick up the small block on the left and move it to the right", "D.press the button from top to bottom" ] }, { "task_id": "0000715", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.the cloth on the folding table, B.put the cup on the cup rack, C.put the blocks on the table, D.put the pen in the cup on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000715.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the cloth on the folding table", "B.put the cup on the cup rack", "C.put the blocks on the table", "D.put the pen in the cup on the table" ] }, { "task_id": "0000716", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slide the outer casing onto the gift box, B.push the small block, C.place the lid on the teapot, D.pick up the sneaker on the bottom shelf and place it on the top shelf] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000716.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the outer casing onto the gift box", "B.push the small block", "C.place the lid on the teapot", "D.pick up the sneaker on the bottom shelf and place it on the top shelf" ] }, { "task_id": "0000717", "task": "TrajChoice", "id": "RH20T_cfg5_task_0073_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the white item on the table into the bag, B.put the things in the drawer, C.remove the marker from the mug and put it on the table, D.pull the storage bin on the left forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000717.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white item on the table into the bag", "B.put the things in the drawer", "C.remove the marker from the mug and put it on the table", "D.pull the storage bin on the left forward" ] }, { "task_id": "0000718", "task": "TrajChoice", "id": "RH20T_cfg6_task_0075_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object on the sofa, B.move the napkin, C.stack the three transparent boxes on the table together, D.finish setting up the starting position of a chessboard that is almost arranged] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000718.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the sofa", "B.move the napkin", "C.stack the three transparent boxes on the table together", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0000719", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the tap, B.press the button of the water dispenser, C.remove a bottle from the left compartment of the tray and put it on the table, D.flip over and spread out the paper that is laid flat on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000719.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the tap", "B.press the button of the water dispenser", "C.remove a bottle from the left compartment of the tray and put it on the table", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0000720", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the green masking tape in the drawer, B.place the block on the scale, C.pick the marker from the cup and put it on the table, D.put the white towel in the black box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000720.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green masking tape in the drawer", "B.place the block on the scale", "C.pick the marker from the cup and put it on the table", "D.put the white towel in the black box" ] }, { "task_id": "0000721", "task": "TrajChoice", "id": "RH20T_cfg1_task_0010_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the handset of the telephone on the corresponding phone cradle, B.press the button on the black and white base of the red button on the right wall, C.move the cable to the left, D.pressing the switch on the machine], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000721.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.press the button on the black and white base of the red button on the right wall", "C.move the cable to the left", "D.pressing the switch on the machine" ] }, { "task_id": "0000722", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the fork on the mat on the table, B.hit the pool ball, C.scoop water with a large spoon from one bowl to another, D.put the green box upright] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000722.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork on the mat on the table", "B.hit the pool ball", "C.scoop water with a large spoon from one bowl to another", "D.put the green box upright" ] }, { "task_id": "0000723", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the blackboard eraser, B.put the cup on the cup rack, C.push the second handle of the table football in, D.put the rubber bands in the bag onto the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000723.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blackboard eraser", "B.put the cup on the cup rack", "C.push the second handle of the table football in", "D.put the rubber bands in the bag onto the box" ] }, { "task_id": "0000724", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.turn the pointer of the object, C.take the dish off the dish rack, D.pick up the blue cloth from the box and put it on the chair's backrest] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000724.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.turn the pointer of the object", "C.take the dish off the dish rack", "D.pick up the blue cloth from the box and put it on the chair's backrest" ] }, { "task_id": "0000725", "task": "TrajChoice", "id": "RH20T_cfg6_task_0106_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the green marker to the left, B.press the lever on the toaster, C.take the orange hat off the black hat and put it on the table, D.take the object down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000725.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green marker to the left", "B.press the lever on the toaster", "C.take the orange hat off the black hat and put it on the table", "D.take the object down from the shelf" ] }, { "task_id": "0000726", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the brush on the pen rack, B.move the white bottle from the scale to the middle of the table, C.wipe the countertop, D.stir the beaker with a glass rod], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000726.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.move the white bottle from the scale to the middle of the table", "C.wipe the countertop", "D.stir the beaker with a glass rod" ] }, { "task_id": "0000727", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0020_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pour the items in the box into the bowl, B.transfer the cubes from the bowl to the table, C.pick up the glass cup in front, D.pull out a napkin] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000727.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items in the box into the bowl", "B.transfer the cubes from the bowl to the table", "C.pick up the glass cup in front", "D.pull out a napkin" ] }, { "task_id": "0000728", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the lid on the jar, B.pick up the marker from the black cup and put it on the table, C.press the green button, D.place the toy from the left bottom corner of the table to the middle of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000728.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the jar", "B.pick up the marker from the black cup and put it on the table", "C.press the green button", "D.place the toy from the left bottom corner of the table to the middle of the table" ] }, { "task_id": "0000729", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the paper cup on the table to the new position on the right, B.close a sliding window, C.put the brown bell pepper on the table, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000729.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the paper cup on the table to the new position on the right", "B.close a sliding window", "C.put the brown bell pepper on the table", "D.press the button from top to bottom" ] }, { "task_id": "0000730", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the straw out of the drink can and place it on the table mat, B.place the handset of the telephone on the corresponding phone cradle, C.pick up the screwdriver and put it in the open drawer and then close the drawer, D.move the silver bowl to the right side of the countertop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000730.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the straw out of the drink can and place it on the table mat", "B.place the handset of the telephone on the corresponding phone cradle", "C.pick up the screwdriver and put it in the open drawer and then close the drawer", "D.move the silver bowl to the right side of the countertop" ] }, { "task_id": "0000731", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the spoon and the lid from the pot on the table, B.slide the lid of the shape sorting box forward, C.place the brush on the pen rack, D.put the paper cup upside down in the place for paper cup storage], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000731.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon and the lid from the pot on the table", "B.slide the lid of the shape sorting box forward", "C.place the brush on the pen rack", "D.put the paper cup upside down in the place for paper cup storage" ] }, { "task_id": "0000732", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0020_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.approach and touch the side of the small block, B.move the mug to the right, C.put the screwdriver on the table, D.take the lid off the pot and place it on the tray], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000732.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.move the mug to the right", "C.put the screwdriver on the table", "D.take the lid off the pot and place it on the tray" ] }, { "task_id": "0000733", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grab the block and place it at the designated location, B.put the pen into the pen holder, C.put the hanger on the bed, D.drag the plate to the goal post after holding it down] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000733.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.put the pen into the pen holder", "C.put the hanger on the bed", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0000734", "task": "TrajChoice", "id": "RH20T_cfg6_task_0026_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the drawer closed, B.moving the kettle from the right side of the counter to the left side of the counter, C.put the square on the desk into the box, D.move the black cap to the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000734.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer closed", "B.moving the kettle from the right side of the counter to the left side of the counter", "C.put the square on the desk into the box", "D.move the black cap to the left" ] }, { "task_id": "0000735", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0003_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn on the light, B.use the gripper to push the small block from left to right, C.move the shovel into the box, D.pick up the marker and place it above], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000735.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light", "B.use the gripper to push the small block from left to right", "C.move the shovel into the box", "D.pick up the marker and place it above" ] }, { "task_id": "0000737", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.screw the lid onto the jar (needs to be rotated), B.use a yellow towel to wipe the table, C.move the toy to the right, D.take the box onto the windowsill], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000737.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar (needs to be rotated)", "B.use a yellow towel to wipe the table", "C.move the toy to the right", "D.take the box onto the windowsill" ] }, { "task_id": "0000738", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the remote control, B.take the roll of paper down from the shelf, C.turn off the fourth switch from the left, D.move the pot above the stove to the lower position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000738.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the remote control", "B.take the roll of paper down from the shelf", "C.turn off the fourth switch from the left", "D.move the pot above the stove to the lower position" ] }, { "task_id": "0000739", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull out a napkin, B.open the lid on the clear container, C.pick up the bottle and move it to the right side of the table, D.put the blocks on top of the number block] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000739.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.open the lid on the clear container", "C.pick up the bottle and move it to the right side of the table", "D.put the blocks on top of the number block" ] }, { "task_id": "0000740", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the switch of the light on the wall, B.rotate the steering wheel 90 degrees clockwise, C.folded cardboard, D.grasp the handle and close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000740.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the switch of the light on the wall", "B.rotate the steering wheel 90 degrees clockwise", "C.folded cardboard", "D.grasp the handle and close the drawer" ] }, { "task_id": "0000741", "task": "TrajChoice", "id": "RH20T_cfg1_task_0103_user_0014_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the black marker inside the silver pot, B.turn off the light, C.move the shovel from the tabletop to the pot, D.drag the plate to the goal post after holding it down], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000741.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black marker inside the silver pot", "B.turn off the light", "C.move the shovel from the tabletop to the pot", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0000742", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the small block on the left and move it to the right, B.play the drum, C.pick up the marker in the mug and put it on the table, D.close the notebook], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000742.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.play the drum", "C.pick up the marker in the mug and put it on the table", "D.close the notebook" ] }, { "task_id": "0000743", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the power strip by pressing the button, B.take the cable out of the grey bowl and place it onto the table, C.push the soccer ball into the goal, D.use a shovel to scoop up an object] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000743.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.take the cable out of the grey bowl and place it onto the table", "C.push the soccer ball into the goal", "D.use a shovel to scoop up an object" ] }, { "task_id": "0000744", "task": "TrajChoice", "id": "RH20T_cfg6_task_0020_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grabbed a hat from the cabinet, B.pull out a napkin, C.put the marker into the bowl, D.turn on the desk lamp by pressing the button] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000744.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grabbed a hat from the cabinet", "B.pull out a napkin", "C.put the marker into the bowl", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000745", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the screwdriver in the drawer then close the drawer, B.folding cloth, C.grab the block and place it at the designated location, D.wipe the tabletop with a white napkin] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000745.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the screwdriver in the drawer then close the drawer", "B.folding cloth", "C.grab the block and place it at the designated location", "D.wipe the tabletop with a white napkin" ] }, { "task_id": "0000746", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.cover the pot with the lid, B.slide the green cloth to the right, C.turn off the light, D.take the paper towel core and put it in the bin] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000746.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.slide the green cloth to the right", "C.turn off the light", "D.take the paper towel core and put it in the bin" ] }, { "task_id": "0000747", "task": "TrajChoice", "id": "RH20T_cfg1_task_0042_user_0016_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.screw the lid onto the jar, B.put the green object into the transparent container, C.place the black item in the box, D.take the dish off the dish rack] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000747.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.put the green object into the transparent container", "C.place the black item in the box", "D.take the dish off the dish rack" ] }, { "task_id": "0000748", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.Insert the tip of a medium pipette into the holder for medium pipette tips, B.move the paper to the right, C.switch off the third switch from the right, D.place the cup on the striped plate] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000748.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a medium pipette into the holder for medium pipette tips", "B.move the paper to the right", "C.switch off the third switch from the right", "D.place the cup on the striped plate" ] }, { "task_id": "0000749", "task": "TrajChoice", "id": "RH20T_cfg6_task_0086_user_0007_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.cover the blender, B.put the two blocks on the left side of the storage box, C.dial a number on an old rotary phone, D.move the orange cloth to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000749.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the blender", "B.put the two blocks on the left side of the storage box", "C.dial a number on an old rotary phone", "D.move the orange cloth to the table" ] }, { "task_id": "0000750", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the carrot plush toy and put it on the left side of the table, B.pour the fries out of the orange cup and onto the white plate, C.open the bottom drawer of the beige file cabinet, D.take the cup off the cup rack] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000750.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the carrot plush toy and put it on the left side of the table", "B.pour the fries out of the orange cup and onto the white plate", "C.open the bottom drawer of the beige file cabinet", "D.take the cup off the cup rack" ] }, { "task_id": "0000751", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the drawer until it closes, B.the thing in the bowl, C.drag the plate to the goal post after holding it down, D.put the marker in the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000751.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer until it closes", "B.the thing in the bowl", "C.drag the plate to the goal post after holding it down", "D.put the marker in the cup" ] }, { "task_id": "0000752", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn off the desk lamp by pressing the button, B.pick up a bag of things, C.grab the block and place it at the designated location, D.pick the plastic zip bag on the table and put it in the plastic box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000752.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.pick up a bag of things", "C.grab the block and place it at the designated location", "D.pick the plastic zip bag on the table and put it in the plastic box" ] }, { "task_id": "0000753", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the switch on the wall, B.take the pen out of the bowl and put it on the table, C.move the plush toy to the left, D.water the plant], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000753.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch on the wall", "B.take the pen out of the bowl and put it on the table", "C.move the plush toy to the left", "D.water the plant" ] }, { "task_id": "0000754", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the faucet to the center of the sink, B.pour the water from the cup into another empty cup, C.clean the table with a cloth, D.remove the white cloth from the black stand], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000754.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the faucet to the center of the sink", "B.pour the water from the cup into another empty cup", "C.clean the table with a cloth", "D.remove the white cloth from the black stand" ] }, { "task_id": "0000755", "task": "TrajChoice", "id": "RH20T_cfg6_task_0033_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the block upward on the cardboard, B.push the table from the right side of the sofa to the left side of the sofa, C.put the marker in the mug, D.put the plate in the basin on the table next to the basin] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000755.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the block upward on the cardboard", "B.push the table from the right side of the sofa to the left side of the sofa", "C.put the marker in the mug", "D.put the plate in the basin on the table next to the basin" ] }, { "task_id": "0000756", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.scoop water with a large spoon from one bowl to another, B.play jenga, C.put the orange doll in the pot, D.take the jacket off the back of the chair and put it on the seat] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000756.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scoop water with a large spoon from one bowl to another", "B.play jenga", "C.put the orange doll in the pot", "D.take the jacket off the back of the chair and put it on the seat" ] }, { "task_id": "0000757", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the left drawer, B.put the object into the sink, C.take the rubber band on the desk to the bag, D.play the drum], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000757.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the left drawer", "B.put the object into the sink", "C.take the rubber band on the desk to the bag", "D.play the drum" ] }, { "task_id": "0000758", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the block at the back edge of the table and move the block, B.place the block inside the bowl, C.put the orange cube on the green cube, D.play jenga] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000758.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block at the back edge of the table and move the block", "B.place the block inside the bowl", "C.put the orange cube on the green cube", "D.play jenga" ] }, { "task_id": "0000759", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the orange ring on the right and place it on the wooden stand, B.take the towel out of the pot and put it on the table, C.remove the object from the scale, D.pick up the blanket from the table and put it on the couch] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000759.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange ring on the right and place it on the wooden stand", "B.take the towel out of the pot and put it on the table", "C.remove the object from the scale", "D.pick up the blanket from the table and put it on the couch" ] }, { "task_id": "0000760", "task": "TrajChoice", "id": "RH20T_cfg6_task_0006_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.use the gripper to push the small block from left to right, B.play jenga, C.open the microwave door, D.close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000760.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.play jenga", "C.open the microwave door", "D.close the drawer" ] }, { "task_id": "0000761", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the jar from the scale and place it on the table, B.insert the pencil into the pencil sharpener, C.assemble one piece of a puzzle, D.swat with a flyswatter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000761.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the jar from the scale and place it on the table", "B.insert the pencil into the pencil sharpener", "C.assemble one piece of a puzzle", "D.swat with a flyswatter" ] }, { "task_id": "0000762", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the kettle, B.move the takeaway pack to the left, C.turn off the desk lamp by pressing the button, D.move the doll on the desk to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000762.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the kettle", "B.move the takeaway pack to the left", "C.turn off the desk lamp by pressing the button", "D.move the doll on the desk to the left" ] }, { "task_id": "0000763", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.hang the shirt on the chair on the right, B.put the plastic corn in the white basin, C.open the microwave door, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000763.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the shirt on the chair on the right", "B.put the plastic corn in the white basin", "C.open the microwave door", "D.play the drum" ] }, { "task_id": "0000764", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the pen from the cup and put it on the kitchen countertop, B.take the blocks to the table, C.fold the towel on the table, D.pick up the watering can from the desk to water the plant], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000764.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the kitchen countertop", "B.take the blocks to the table", "C.fold the towel on the table", "D.pick up the watering can from the desk to water the plant" ] }, { "task_id": "0000765", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.switch off the desk lamp, B.remove the lid from the clear container, C.push the black object backwards, D.water the plant], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000765.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.switch off the desk lamp", "B.remove the lid from the clear container", "C.push the black object backwards", "D.water the plant" ] }, { "task_id": "0000766", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.get the black marker from the white mug then put it on the table, B.push the soccer ball into the goal, C.hang the tape on the wooden rack, D.put the building blocks on the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000766.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.get the black marker from the white mug then put it on the table", "B.push the soccer ball into the goal", "C.hang the tape on the wooden rack", "D.put the building blocks on the plate" ] }, { "task_id": "0000767", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the black marker from the pot, B.close a sliding window, C.Insert the tip of a medium pipette into the holder for medium pipette tips, D.take the shoe out of the box and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000767.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the black marker from the pot", "B.close a sliding window", "C.Insert the tip of a medium pipette into the holder for medium pipette tips", "D.take the shoe out of the box and put it on the table" ] }, { "task_id": "0000768", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.assemble one piece of a puzzle, B.turn the knob to decrease the volume of the speaker, C.pick up the napkin from the counter and put it on the cloth, D.hang the white bag on the desk onto the clothes rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000768.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.turn the knob to decrease the volume of the speaker", "C.pick up the napkin from the counter and put it on the cloth", "D.hang the white bag on the desk onto the clothes rack" ] }, { "task_id": "0000769", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a bag of things, B.put the backpack on the left side of the chair back, C.pour the contents of the white plate into the cup to the right, D.put the pen on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000769.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.put the backpack on the left side of the chair back", "C.pour the contents of the white plate into the cup to the right", "D.put the pen on the table" ] }, { "task_id": "0000770", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green sachet in the bag, B.move the faucet handle to the right, C.place the block on the scale, D.put the racket in the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000770.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green sachet in the bag", "B.move the faucet handle to the right", "C.place the block on the scale", "D.put the racket in the drawer" ] }, { "task_id": "0000771", "task": "TrajChoice", "id": "RH20T_cfg1_task_0039_user_0016_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the marker and put it in the cup, B.put the bananas on the pallet onto the table, C.rotate the steering wheel 90 degrees clockwise, D.pour the water from one cup into another empty cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000771.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the cup", "B.put the bananas on the pallet onto the table", "C.rotate the steering wheel 90 degrees clockwise", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0000772", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0001_cfg_0005_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the marker from the cup and put it on the edge of the table, B.take the green ball out of the box and throw it on the black plate, C.move the white cup to the right of the table, D.unscrew the lid from the jar], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000772.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup and put it on the edge of the table", "B.take the green ball out of the box and throw it on the black plate", "C.move the white cup to the right of the table", "D.unscrew the lid from the jar" ] }, { "task_id": "0000773", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.insert the pencil into the pencil sharpener, B.move the plate downwards, C.press the button on the machine, D.cover the pot with the lid], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000773.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.move the plate downwards", "C.press the button on the machine", "D.cover the pot with the lid" ] }, { "task_id": "0000774", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the small block on the right and move it to the left, B.move the plush toys in the white bowl into the blue container, C.push the lever on the toaster downwards, D.place the towel on the sofa back], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000774.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it to the left", "B.move the plush toys in the white bowl into the blue container", "C.push the lever on the toaster downwards", "D.place the towel on the sofa back" ] }, { "task_id": "0000776", "task": "TrajChoice", "id": "RH20T_cfg3_task_0092_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the marker from the table and put it in the cup, B.turn the hands of a clock, C.move the orange bowl and place it on the orange cup, then move the orange knife and place it on the bowl, D.put the remote control on the cabinet], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000776.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the table and put it in the cup", "B.turn the hands of a clock", "C.move the orange bowl and place it on the orange cup, then move the orange knife and place it on the bowl", "D.put the remote control on the cabinet" ] }, { "task_id": "0000777", "task": "TrajChoice", "id": "RH20T_cfg7_task_0038_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the lid on the blue pot and put it on the pot, B.pick up the cup, C.pick up the towel from the table and put it on the tripod, D.folding the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000777.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid on the blue pot and put it on the pot", "B.pick up the cup", "C.pick up the towel from the table and put it on the tripod", "D.folding the towel" ] }, { "task_id": "0000778", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull the drawer to the open position, B.use the white and blue cloth to wipe the table, C.pick up the drumsticks on the table, D.pick the cloth off the table and put it on the stand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000778.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the drawer to the open position", "B.use the white and blue cloth to wipe the table", "C.pick up the drumsticks on the table", "D.pick the cloth off the table and put it on the stand" ] }, { "task_id": "0000779", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open a box, B.put the marker in the pot, C.push the block to the left, D.play the drum] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000779.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.put the marker in the pot", "C.push the block to the left", "D.play the drum" ] }, { "task_id": "0000780", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the water from one cup into another empty cup, B.slide the towel to the left side of the table, C.pour the contents of the spoon into the bowl, D.screw the lid onto the jar], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000780.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.slide the towel to the left side of the table", "C.pour the contents of the spoon into the bowl", "D.screw the lid onto the jar" ] }, { "task_id": "0000781", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the green block next to the other green block on the wooden board, B.pull out a napkin, C.turn off the power strip by pressing the button, D.put the peanut toy on the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000781.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block next to the other green block on the wooden board", "B.pull out a napkin", "C.turn off the power strip by pressing the button", "D.put the peanut toy on the right side of the table" ] }, { "task_id": "0000782", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the mug and place it on the table, B.put the toilet paper on its holder, C.move the kettle to the left, D.use the gripper to push and close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000782.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the mug and place it on the table", "B.put the toilet paper on its holder", "C.move the kettle to the left", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0000783", "task": "TrajChoice", "id": "RH20T_cfg3_task_0067_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the bottle on the shelf to a standing position, B.put the bottle into the bowl, C.press the button on the yellow base of the green key on the desktop, D.move the pen backwards] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000783.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the bottle on the shelf to a standing position", "B.put the bottle into the bowl", "C.press the button on the yellow base of the green key on the desktop", "D.move the pen backwards" ] }, { "task_id": "0000784", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cup on the cup rack, B.move the orange snack packet to the open cabinet, C.turn on the desk lamp by pressing the button, D.open the door of the microwave oven], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000784.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move the orange snack packet to the open cabinet", "C.turn on the desk lamp by pressing the button", "D.open the door of the microwave oven" ] }, { "task_id": "0000785", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0002_cfg_0003_036422060909#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the silver bowl on the front right plate, B.remove the pineapple and pear plushies from the drawer, put them on the counter and then close the drawer, C.the grasp of the moving object, D.pick up the object on the shelf on the table and transfer it to the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000785.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver bowl on the front right plate", "B.remove the pineapple and pear plushies from the drawer, put them on the counter and then close the drawer", "C.the grasp of the moving object", "D.pick up the object on the shelf on the table and transfer it to the black bowl" ] }, { "task_id": "0000786", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the first flat drawer of the side cabinet, B.close the drawer, C.open the cabinet door, D.turn the knob to decrease the volume of the speaker] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000786.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the first flat drawer of the side cabinet", "B.close the drawer", "C.open the cabinet door", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0000787", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the plastic storage box under the drawer, B.close the bottom drawer of the cabinet to the right, C.put the blocks on the table, D.pick up the spoon], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000787.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the plastic storage box under the drawer", "B.close the bottom drawer of the cabinet to the right", "C.put the blocks on the table", "D.pick up the spoon" ] }, { "task_id": "0000788", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn off the water tap, B.take the pen out of the cup and put it on the table, C.move the pencil from the top segment of the shoe rack to the second segment, D.play jenga], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000788.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.take the pen out of the cup and put it on the table", "C.move the pencil from the top segment of the shoe rack to the second segment", "D.play jenga" ] }, { "task_id": "0000789", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button on the black machine to turn it on, B.remove the bubble ring from the assembled bubble ring and ball, C.put the square box on the table into the frame, D.pick up the black and white bowl on the left and put it on top of the box] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000789.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the black machine to turn it on", "B.remove the bubble ring from the assembled bubble ring and ball", "C.put the square box on the table into the frame", "D.pick up the black and white bowl on the left and put it on top of the box" ] }, { "task_id": "0000790", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the white item on the stove, B.open a sliding window, C.remove the lid from the coffee cup on the right, D.push the block slightly to the right] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000790.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white item on the stove", "B.open a sliding window", "C.remove the lid from the coffee cup on the right", "D.push the block slightly to the right" ] }, { "task_id": "0000791", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the lid on the kettle to close the kettle, B.hang the white towel on the back of the chair, C.drag the plate to the goal post after holding it down, D.pour the object from the bowl onto the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000791.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the lid on the kettle to close the kettle", "B.hang the white towel on the back of the chair", "C.drag the plate to the goal post after holding it down", "D.pour the object from the bowl onto the plate" ] }, { "task_id": "0000792", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.screw the lid onto the jar, B.place the block on the black circle, C.move the cup to the left, D.move the plate] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000792.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.place the block on the black circle", "C.move the cup to the left", "D.move the plate" ] }, { "task_id": "0000793", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the plastic bowl from the countertop and slightly move it to the right, B.put the marker in the blue cup, C.put the yellow block on the table, D.turn on the power strip by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000793.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the plastic bowl from the countertop and slightly move it to the right", "B.put the marker in the blue cup", "C.put the yellow block on the table", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0000794", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the candy bar on the shelf, B.put the bowl into the drawer, C.take the book out of the box and place it on the backrest of the sofa, D.unscrew the lid from the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000794.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the candy bar on the shelf", "B.put the bowl into the drawer", "C.take the book out of the box and place it on the backrest of the sofa", "D.unscrew the lid from the jar" ] }, { "task_id": "0000795", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0014_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick the popcorn on the napkin using a fork, B.place the brush on the pen rack, C.drag the plate to the goal post after holding it down, D.remove the white lid from the box, then take the brown box out of the box and place it on the counter, put the orange pom-pom into the brown box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000795.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the popcorn on the napkin using a fork", "B.place the brush on the pen rack", "C.drag the plate to the goal post after holding it down", "D.remove the white lid from the box, then take the brown box out of the box and place it on the counter, put the orange pom-pom into the brown box" ] }, { "task_id": "0000796", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.plug in the bulb holder with a bulb to the socket, B.push the drawer closed, C.grab the block and place it at the designated location, D.push the left switch of the toaster up], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000796.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder with a bulb to the socket", "B.push the drawer closed", "C.grab the block and place it at the designated location", "D.push the left switch of the toaster up" ] }, { "task_id": "0000797", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the object from the cup onto the table, B.stack the blue block from the desktop on top of the yellow blocks stacked at the edge of the table, C.press the button from top to bottom, D.sliding cover], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000797.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object from the cup onto the table", "B.stack the blue block from the desktop on top of the yellow blocks stacked at the edge of the table", "C.press the button from top to bottom", "D.sliding cover" ] }, { "task_id": "0000798", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the hex wrench into the green cup, B.push the soccer ball into the goal, C.unfold the folded blanket on the bed, D.pull out a napkin] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000798.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the hex wrench into the green cup", "B.push the soccer ball into the goal", "C.unfold the folded blanket on the bed", "D.pull out a napkin" ] }, { "task_id": "0000799", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.uncover the small pot on the stove, B.remove the pen from the cup and put it on the table, C.screw the lid onto the jar (requires rotation), D.push the block to the center of the board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000799.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.uncover the small pot on the stove", "B.remove the pen from the cup and put it on the table", "C.screw the lid onto the jar (requires rotation)", "D.push the block to the center of the board" ] }, { "task_id": "0000800", "task": "TrajChoice", "id": "RH20T_cfg4_task_0031_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.cover the box, B.put the white bottle on top of the clear bottle, C.remove the spatula and spoon from the utensil holder closer to you, D.scoop water with a large spoon from one bowl to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000800.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.put the white bottle on top of the clear bottle", "C.remove the spatula and spoon from the utensil holder closer to you", "D.scoop water with a large spoon from one bowl to another" ] }, { "task_id": "0000801", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bottle on the second shelf of the cabinet, B.pick up the pen from the table and put it in the cup, C.take something out of a drawer, D.move the fabric to the specified position] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000801.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle on the second shelf of the cabinet", "B.pick up the pen from the table and put it in the cup", "C.take something out of a drawer", "D.move the fabric to the specified position" ] }, { "task_id": "0000802", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the block on the large block on the left side of the table, B.take the dish off the dish rack, C.move the cup, D.grasp the moving object] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000802.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the large block on the left side of the table", "B.take the dish off the dish rack", "C.move the cup", "D.grasp the moving object" ] }, { "task_id": "0000803", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the things in the drawer and close the drawer, B.move the coin, C.move the green mug to the right, D.put the green pack in the top cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000803.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer and close the drawer", "B.move the coin", "C.move the green mug to the right", "D.put the green pack in the top cabinet" ] }, { "task_id": "0000804", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green object in the bowl onto the table, B.put the candy bar on the shelf, C.remove the marker from the mug, D.turn the knob to decrease the volume of the speaker] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000804.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green object in the bowl onto the table", "B.put the candy bar on the shelf", "C.remove the marker from the mug", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0000805", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the lid of the black pot on the countertop, B.put the spoon and the lid from the pot on the table, C.expand the clothes, D.Insert the tip of a large pipette into the holder for large pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000805.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid of the black pot on the countertop", "B.put the spoon and the lid from the pot on the table", "C.expand the clothes", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0000806", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the coffee maker, B.take a tissue from the tissue box and put it on the table, C.unfold a piece of paper that has been folded once with one end pressed down by a weight, D.put the bottle on the box in the lower compartment of the tray] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000806.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the coffee maker", "B.take a tissue from the tissue box and put it on the table", "C.unfold a piece of paper that has been folded once with one end pressed down by a weight", "D.put the bottle on the box in the lower compartment of the tray" ] }, { "task_id": "0000807", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the block on the scale, B.put the black t-shirt on the table, C.put the cotton swab box on the table into the bag, D.put the brown block in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000807.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.put the black t-shirt on the table", "C.put the cotton swab box on the table into the bag", "D.put the brown block in the bowl" ] }, { "task_id": "0000808", "task": "TrajChoice", "id": "RH20T_cfg4_task_0006_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the towel slightly upward, B.place the remote on the black cushion, C.use the gripper to push the small block from left to right, D.put the cup on the table and straighten it] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000808.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel slightly upward", "B.place the remote on the black cushion", "C.use the gripper to push the small block from left to right", "D.put the cup on the table and straighten it" ] }, { "task_id": "0000809", "task": "TrajChoice", "id": "RH20T_cfg3_task_0048_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up a small block, B.move the cushion on the sofa from the left side to the right side, C.transfer the objects on the plate to the pot , D.rotate the steering wheel 90 degrees clockwise] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000809.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.move the cushion on the sofa from the left side to the right side", "C.transfer the objects on the plate to the pot ", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0000810", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the object from the scale and place it on the table, B.move the cup to the bottom right corner of the table, C.pull out a napkin, D.push the switch on the left side of the wall], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000810.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale and place it on the table", "B.move the cup to the bottom right corner of the table", "C.pull out a napkin", "D.push the switch on the left side of the wall" ] }, { "task_id": "0000811", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.slide the green cloth on the table, B.move the socket from the scale to the table, C.pick up the cloth from the chair and put it on the table, D.put the bottles from the bag onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000811.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the green cloth on the table", "B.move the socket from the scale to the table", "C.pick up the cloth from the chair and put it on the table", "D.put the bottles from the bag onto the table" ] }, { "task_id": "0000812", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the black frying pan to the right, B.put the transparent box on the table, C.place the handset of the telephone on the corresponding phone cradle, D.pick up the black cable and put it in the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000812.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the black frying pan to the right", "B.put the transparent box on the table", "C.place the handset of the telephone on the corresponding phone cradle", "D.pick up the black cable and put it in the box" ] }, { "task_id": "0000814", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button on the orange base with the red button, B.push the block, C.move the purple bag to the designated position, D.put the candy bar in the cupboard], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000814.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the orange base with the red button", "B.push the block", "C.move the purple bag to the designated position", "D.put the candy bar in the cupboard" ] }, { "task_id": "0000815", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the top drawer of the cabinet to the left, B.put the orange item in the blue object, C.move the gray object to the left, D.pick up the drumsticks from the desk, play the drum, and put them back on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000815.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the cabinet to the left", "B.put the orange item in the blue object", "C.move the gray object to the left", "D.pick up the drumsticks from the desk, play the drum, and put them back on the desk" ] }, { "task_id": "0000816", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.play the first move as black on the 3-4 point in the upper right corner of the Go board, B.take the marker out of the cup and put it on the table, C.put the toilet paper on its holder, D.transfer the bottle from the box to the countertop] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000816.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the first move as black on the 3-4 point in the upper right corner of the Go board", "B.take the marker out of the cup and put it on the table", "C.put the toilet paper on its holder", "D.transfer the bottle from the box to the countertop" ] }, { "task_id": "0000818", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the cup on the counter, B.press the fourth switch from the right, C.put the things in the drawer, and then close the drawer, D.place the box on the left side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000818.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup on the counter", "B.press the fourth switch from the right", "C.put the things in the drawer, and then close the drawer", "D.place the box on the left side of the table" ] }, { "task_id": "0000819", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the glue stick in the bowl, B.clean the tabletop with a sponge, C.hang the cloth on the stand, D.put the bottle in the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000819.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glue stick in the bowl", "B.clean the tabletop with a sponge", "C.hang the cloth on the stand", "D.put the bottle in the sink" ] }, { "task_id": "0000820", "task": "TrajChoice", "id": "RH20T_cfg4_task_0205_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.chop the scallions, B.place the object in the cup, C.put the glass lid on the black pot, D.remove the red marker from the yellow mug and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000820.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the scallions", "B.place the object in the cup", "C.put the glass lid on the black pot", "D.remove the red marker from the yellow mug and put it on the table" ] }, { "task_id": "0000821", "task": "TrajChoice", "id": "RH20T_cfg1_task_0120_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the small red button on the control panel, B.screw the lid onto the jar, C.transfer the jar from the sink to the cabinet, D.install the light bulb by rotating it] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000821.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small red button on the control panel", "B.screw the lid onto the jar", "C.transfer the jar from the sink to the cabinet", "D.install the light bulb by rotating it" ] }, { "task_id": "0000822", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents of the bowl into the box, B.wipe the table with a cloth, C.pick up a bag of things, D.turn off the light] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000822.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl into the box", "B.wipe the table with a cloth", "C.pick up a bag of things", "D.turn off the light" ] }, { "task_id": "0000823", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white spoon on the white plate, B.place the cube inside the bowl, C.approach and touch the side of the small block, D.put the toilet paper on its holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000823.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white spoon on the white plate", "B.place the cube inside the bowl", "C.approach and touch the side of the small block", "D.put the toilet paper on its holder" ] }, { "task_id": "0000824", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the blue object to the bottom of the desk, B.pick up the cup, C.pick up the marker from the table and put it in the bowl, D.cover the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000824.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue object to the bottom of the desk", "B.pick up the cup", "C.pick up the marker from the table and put it in the bowl", "D.cover the lid on the pot" ] }, { "task_id": "0000825", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0014_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the top left cabinet door, B.remove the marker from the cup and put it on the table, C.push the pot on the stove to the left side, D.pull out a napkin] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000825.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the top left cabinet door", "B.remove the marker from the cup and put it on the table", "C.push the pot on the stove to the left side", "D.pull out a napkin" ] }, { "task_id": "0000826", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the cup to the right, B.place the handset of the telephone on the corresponding phone cradle, C.move the mug to the left, D.open the lid on the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000826.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.place the handset of the telephone on the corresponding phone cradle", "C.move the mug to the left", "D.open the lid on the box" ] }, { "task_id": "0000827", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0002_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push and close the drawer, B.put the yellow toy into the silver pot on the left, C.close the trash can, D.turning the tap clockwise] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000827.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.put the yellow toy into the silver pot on the left", "C.close the trash can", "D.turning the tap clockwise" ] }, { "task_id": "0000828", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the clothes on the box and then take them to the table, B.move the blue object from the shelf to the table, C.take a bundle of objects from the plate and put them into the bowl, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000828.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothes on the box and then take them to the table", "B.move the blue object from the shelf to the table", "C.take a bundle of objects from the plate and put them into the bowl", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000829", "task": "TrajChoice", "id": "RH20T_cfg2_task_0213_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the computer on the table, B.pick up the orange ring on the desk, place it on the wooden stand, C.chop the orange, D.remove the glass lid from the top of the black pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000829.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the computer on the table", "B.pick up the orange ring on the desk, place it on the wooden stand", "C.chop the orange", "D.remove the glass lid from the top of the black pot" ] }, { "task_id": "0000830", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the white bottle on the desk into the bag, B.close the cabinet door, C.unfold a piece of paper that has been folded once (one end is pressed down by a weight), D.take the hanger from the highest point of the drying rack and place it on the second layer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000830.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white bottle on the desk into the bag", "B.close the cabinet door", "C.unfold a piece of paper that has been folded once (one end is pressed down by a weight)", "D.take the hanger from the highest point of the drying rack and place it on the second layer" ] }, { "task_id": "0000831", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grab a basketball, release it and shoot it into the basket, B.press the button, C.put the straw in the can, D.clean the table with a cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000831.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, release it and shoot it into the basket", "B.press the button", "C.put the straw in the can", "D.clean the table with a cloth" ] }, { "task_id": "0000832", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0010_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the orange block on the green one, B.arrange the two pillows neatly to the right, C.put the clothes under the rack, D.take the green object on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000832.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange block on the green one", "B.arrange the two pillows neatly to the right", "C.put the clothes under the rack", "D.take the green object on the table" ] }, { "task_id": "0000833", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the pen in the cup, B.put the knife on the knife rack, C.put the hat on the table, D.push an object with obstacles], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000833.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the cup", "B.put the knife on the knife rack", "C.put the hat on the table", "D.push an object with obstacles" ] }, { "task_id": "0000834", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.play the first move as black on the 3-4 point in the upper right corner of the Go board, B.transfer the cloth from the drawer to the cabinet, C.grab a basketball, release it and shoot it into the basket, D.unfold the cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000834.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the first move as black on the 3-4 point in the upper right corner of the Go board", "B.transfer the cloth from the drawer to the cabinet", "C.grab a basketball, release it and shoot it into the basket", "D.unfold the cloth" ] }, { "task_id": "0000835", "task": "TrajChoice", "id": "RH20T_cfg1_task_0124_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object on the desktop, B.move the brown cube from the table to the edge of the table, C.push the lever, D.put the black masking tape on the cream plate] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000835.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object on the desktop", "B.move the brown cube from the table to the edge of the table", "C.push the lever", "D.put the black masking tape on the cream plate" ] }, { "task_id": "0000836", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the box in the cupboard on the bottommost shelf, B.put the toilet paper on its holder, C.flip the red bottle upside down, D.transfer the green jar from the countertop to the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000836.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the box in the cupboard on the bottommost shelf", "B.put the toilet paper on its holder", "C.flip the red bottle upside down", "D.transfer the green jar from the countertop to the bowl" ] }, { "task_id": "0000837", "task": "TrajChoice", "id": "RH20T_cfg7_task_0017_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the pen into the pen holder, B.move the black object to a different position on the table, C.press the keyboard, D.move the sticky notepad to the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000837.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.move the black object to a different position on the table", "C.press the keyboard", "D.move the sticky notepad to the left side of the table" ] }, { "task_id": "0000838", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the mouse, B.put the green marker into the box, C.transfer the key from the sliding tray to the window sill, D.pick up and place an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000838.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the mouse", "B.put the green marker into the box", "C.transfer the key from the sliding tray to the window sill", "D.pick up and place an object with obstacles" ] }, { "task_id": "0000839", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the curtain, B.moving the drumsticks from the table to the drum surface, C.pick up the block and put it in the bowl, D.take out the orange building blocks from the bag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000839.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the curtain", "B.moving the drumsticks from the table to the drum surface", "C.pick up the block and put it in the bowl", "D.take out the orange building blocks from the bag" ] }, { "task_id": "0000840", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the paper glue in the bowl, B.take a bottle from the transparent container and place it on the table, C.drag the plate to the goal post after holding it down, D.take something out of the drawer, put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000840.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the paper glue in the bowl", "B.take a bottle from the transparent container and place it on the table", "C.drag the plate to the goal post after holding it down", "D.take something out of the drawer, put it on the table" ] }, { "task_id": "0000841", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the objects on the table into the bag, B.close the open upper cabinet door, C.pick up a small block, D.take the red handle off the shelf and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000841.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the objects on the table into the bag", "B.close the open upper cabinet door", "C.pick up a small block", "D.take the red handle off the shelf and put it on the table" ] }, { "task_id": "0000842", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the lid on the black pot, B.put the marker in the mug, C.grab the block and place it at the designated location, D.place the object into the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000842.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the black pot", "B.put the marker in the mug", "C.grab the block and place it at the designated location", "D.place the object into the box" ] }, { "task_id": "0000843", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the Rubik's cube on the shelf, B.put the blocks on the table, C.pick up the green object from the bowl and put it on the white plate, D.pick up the pen from the table and put it in the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000843.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the Rubik's cube on the shelf", "B.put the blocks on the table", "C.pick up the green object from the bowl and put it on the white plate", "D.pick up the pen from the table and put it in the cup" ] }, { "task_id": "0000844", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick the lid and put it on the pot, B.move the object from the left side of the table to the right side of the table, C.assemble: attach the bubble ring to the ball, D.put the rectangular orange block on top of the green block to the left] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000844.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the lid and put it on the pot", "B.move the object from the left side of the table to the right side of the table", "C.assemble: attach the bubble ring to the ball", "D.put the rectangular orange block on top of the green block to the left" ] }, { "task_id": "0000845", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the lid off and place it on the table, B.pour the water from a cup into another empty cup, C.pick up the bottle on the stand, D.turn off the faucet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000845.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off and place it on the table", "B.pour the water from a cup into another empty cup", "C.pick up the bottle on the stand", "D.turn off the faucet" ] }, { "task_id": "0000846", "task": "TrajChoice", "id": "RH20T_cfg1_task_0015_user_0001_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the green mug to the right, B.play the drum, C.put the bowl on the right side of the table, D.wipe the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000846.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green mug to the right", "B.play the drum", "C.put the bowl on the right side of the table", "D.wipe the table" ] }, { "task_id": "0000847", "task": "TrajChoice", "id": "RH20T_cfg4_task_0047_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the peach t-shirt on the backrest of the grey chair, B.rotate the steering wheel 90 degrees clockwise, C.move the book to the right side of the bookshelf, D.take the cup off the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000847.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the peach t-shirt on the backrest of the grey chair", "B.rotate the steering wheel 90 degrees clockwise", "C.move the book to the right side of the bookshelf", "D.take the cup off the cup rack" ] }, { "task_id": "0000848", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the small block on the left and move it to the right, B.take the spoon from the dish rack and place it on the plate, C.open the lid, D.close a sliding window] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000848.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.take the spoon from the dish rack and place it on the plate", "C.open the lid", "D.close a sliding window" ] }, { "task_id": "0000849", "task": "TrajChoice", "id": "RH20T_cfg3_task_0052_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the toys on the desk into the green bowl, B.clean the tabletop with a sponge, C.grab a basketball, release it and shoot it into the basket, D.transfer the paper tube from the countertop to the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000849.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toys on the desk into the green bowl", "B.clean the tabletop with a sponge", "C.grab a basketball, release it and shoot it into the basket", "D.transfer the paper tube from the countertop to the bowl" ] }, { "task_id": "0000850", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the towel to the right, B.pick up the small block on the right, move it to the left, and then put it down, C.pick up the sharpie, and then place it on the table, D.push the lid towards the top of the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000850.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel to the right", "B.pick up the small block on the right, move it to the left, and then put it down", "C.pick up the sharpie, and then place it on the table", "D.push the lid towards the top of the box" ] }, { "task_id": "0000851", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.approach and touch the side of the small block, B.put the ball from the plate onto the table, C.place the small cube in the lower left corner of the box in front of the box, D.move the white mug backwards], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000851.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.put the ball from the plate onto the table", "C.place the small cube in the lower left corner of the box in front of the box", "D.move the white mug backwards" ] }, { "task_id": "0000852", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the knife in the drawer, B.pick up the brush from the desktop and place it on the pen rack, C.open the book, D.pulling the pull cord of the ceiling fan light turns off the light] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000852.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife in the drawer", "B.pick up the brush from the desktop and place it on the pen rack", "C.open the book", "D.pulling the pull cord of the ceiling fan light turns off the light" ] }, { "task_id": "0000853", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the left white piece of paper in the right bin, B.close a sliding window, C.remove the object from the plastic and place it on the table, D.move the bowl to the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000853.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the left white piece of paper in the right bin", "B.close a sliding window", "C.remove the object from the plastic and place it on the table", "D.move the bowl to the right side of the table" ] }, { "task_id": "0000854", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close a sliding window, B.remove the packet from the sink, C.flip a paper cup on the table, D.open the microwave door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000854.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.remove the packet from the sink", "C.flip a paper cup on the table", "D.open the microwave door" ] }, { "task_id": "0000855", "task": "TrajChoice", "id": "RH20T_cfg2_task_0031_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the middle plate in the dishwasher, B.place the white plate from the counter on the left side of the dishwasher, C.cover the box, D.move the item from the table to the block], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000855.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the middle plate in the dishwasher", "B.place the white plate from the counter on the left side of the dishwasher", "C.cover the box", "D.move the item from the table to the block" ] }, { "task_id": "0000856", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take out a Hanoi block and put it on the table, B.use the white towel to wipe the table, C.pick up the cloth and put it in the paper bag, D.put the pen into the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000856.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and put it on the table", "B.use the white towel to wipe the table", "C.pick up the cloth and put it in the paper bag", "D.put the pen into the cup" ] }, { "task_id": "0000857", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0017_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer the block from the block pile to the table, B.remove a tissue from the box, C.move the mug from the left table to the right table, D.put the cup on the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000857.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the block from the block pile to the table", "B.remove a tissue from the box", "C.move the mug from the left table to the right table", "D.put the cup on the cup rack" ] }, { "task_id": "0000858", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the toilet paper on the holder, B.wiping the tabletop with a black and white towel, C.pick up the carrot plush toy and put it on the counter, D.put the water bottle beside the tape], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000858.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on the holder", "B.wiping the tabletop with a black and white towel", "C.pick up the carrot plush toy and put it on the counter", "D.put the water bottle beside the tape" ] }, { "task_id": "0000859", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the toy into the bowl, B.move the green block from the stack of blocks to the table, C.take the cup off the cup rack, D.turn on the power strip by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000859.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy into the bowl", "B.move the green block from the stack of blocks to the table", "C.take the cup off the cup rack", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0000860", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the extension cord switch on, B.transfer the cloth on the box into the plastic bag, C.put the marker in the bowl, D.open a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000860.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the extension cord switch on", "B.transfer the cloth on the box into the plastic bag", "C.put the marker in the bowl", "D.open a sliding window" ] }, { "task_id": "0000861", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the white box on the left side of the sink to the right side of the sink, B.play the drum, C.move the bottle to the left, D.use the red towel to wipe the window], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000861.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white box on the left side of the sink to the right side of the sink", "B.play the drum", "C.move the bottle to the left", "D.use the red towel to wipe the window" ] }, { "task_id": "0000863", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up a small block, B.move the marker to the right, C.put the object on the table, D.move the black shirt to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000863.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.move the marker to the right", "C.put the object on the table", "D.move the black shirt to the right" ] }, { "task_id": "0000864", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the knob to decrease the volume of the speaker, B.place the block on the scale, C.press the button, D.press the red button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000864.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.place the block on the scale", "C.press the button", "D.press the red button from top to bottom" ] }, { "task_id": "0000865", "task": "TrajChoice", "id": "RH20T_cfg6_task_0046_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.move the lid from the pot to the towel, C.close the door, D.place the block on the left block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000865.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move the lid from the pot to the towel", "C.close the door", "D.place the block on the left block" ] }, { "task_id": "0000866", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the spoon on the plate, B.move the mug forward slightly, C.pick up the marker from the cup and put it on the table, D.grasp the moving object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000866.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the plate", "B.move the mug forward slightly", "C.pick up the marker from the cup and put it on the table", "D.grasp the moving object" ] }, { "task_id": "0000867", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.fold the napkin in half from left to right, C.put the light blue cube into the yellow cup, D.put the box on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000867.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.fold the napkin in half from left to right", "C.put the light blue cube into the yellow cup", "D.put the box on the table" ] }, { "task_id": "0000868", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0003_scene_0008_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.use scissors, B.close the microwave door, C.moving a small block on the left side of the table and placing it in the center of the table, D.pour the things in the transparent box onto the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000868.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use scissors", "B.close the microwave door", "C.moving a small block on the left side of the table and placing it in the center of the table", "D.pour the things in the transparent box onto the towel" ] }, { "task_id": "0000869", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the bottle into the bag, B.push the small block from right to left, C.move the cup to the left, D.screw the lid onto the jar (requires rotation)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000869.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle into the bag", "B.push the small block from right to left", "C.move the cup to the left", "D.screw the lid onto the jar (requires rotation)" ] }, { "task_id": "0000870", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the object from the scale, B.put the black pen inside the white mug, C.push the small block towards the bottom of the table, D.put the ball in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000870.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.put the black pen inside the white mug", "C.push the small block towards the bottom of the table", "D.put the ball in the bowl" ] }, { "task_id": "0000871", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees clockwise, B.after putting the paper tube into the bowl, take it out and place it on the countertop, C.take a bottle to pour something, D.place the handset of the telephone on the corresponding phone cradle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000871.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.after putting the paper tube into the bowl, take it out and place it on the countertop", "C.take a bottle to pour something", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0000872", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.play the drum, B.open a sliding window, C.take something out of a drawer, D.open the first top drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000872.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.open a sliding window", "C.take something out of a drawer", "D.open the first top drawer" ] }, { "task_id": "0000873", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp a small block to sweep another small block into the designated position, B.turn off the water tap, C.move the purple object, D.pick the marker from the bowl and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000873.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep another small block into the designated position", "B.turn off the water tap", "C.move the purple object", "D.pick the marker from the bowl and put it on the table" ] }, { "task_id": "0000874", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker into the pen holder, B.put the rope under the shelf on top of the shelf, C.remove the green object from the red bowl, D.press one of the buttons of the black speaker], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000874.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the pen holder", "B.put the rope under the shelf on top of the shelf", "C.remove the green object from the red bowl", "D.press one of the buttons of the black speaker" ] }, { "task_id": "0000875", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0003_scene_0004_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close a sliding window, B.move the gray clothes to the drawer, C.move the car toy, D.sweeping a small block with the gripper from left to right on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000875.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.move the gray clothes to the drawer", "C.move the car toy", "D.sweeping a small block with the gripper from left to right on the table" ] }, { "task_id": "0000877", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.transfer the clothes from the back of the chair to the cushion, B.put the grey bag on the right in front of the black bag on the left, C.move the blocks from the table to the block tower, D.play jenga], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000877.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the clothes from the back of the chair to the cushion", "B.put the grey bag on the right in front of the black bag on the left", "C.move the blocks from the table to the block tower", "D.play jenga" ] }, { "task_id": "0000878", "task": "TrajChoice", "id": "RH20T_cfg1_task_0200_user_0015_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the cup upside down and place the knife on the cup, B.put the object in the drawer, C.open the lid of the coffee machine, D.Insert the tip of a large pipette into the holder for large pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000878.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the cup upside down and place the knife on the cup", "B.put the object in the drawer", "C.open the lid of the coffee machine", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0000879", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the white string in the box, B.put the marker on the table, C.put the knife on the knife rack, D.move the object from the right side of the table to the left side of the table and put it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000879.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white string in the box", "B.put the marker on the table", "C.put the knife on the knife rack", "D.move the object from the right side of the table to the left side of the table and put it down" ] }, { "task_id": "0000880", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn the hands of a clock, B.put the number block on the black number block, then push it to the number block, C.open the white oven, D.clean the tabletop with a sponge] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000880.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.put the number block on the black number block, then push it to the number block", "C.open the white oven", "D.clean the tabletop with a sponge" ] }, { "task_id": "0000881", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the tap counterclockwise, B.move the grey sweatshirt to the top of the black cabinet, C.put the screwdriver in the drawer then close the drawer, D.clean the table with a cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000881.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the tap counterclockwise", "B.move the grey sweatshirt to the top of the black cabinet", "C.put the screwdriver in the drawer then close the drawer", "D.clean the table with a cloth" ] }, { "task_id": "0000883", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the marker in the grey pot and put the black lid on top of the grey pot, move the grey pot to the left, B.put the green block in the black bowl, C.slide the outer casing onto the gift box, D.press a button on the dish washing machine] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000883.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the grey pot and put the black lid on top of the grey pot, move the grey pot to the left", "B.put the green block in the black bowl", "C.slide the outer casing onto the gift box", "D.press a button on the dish washing machine" ] }, { "task_id": "0000884", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.unfold a piece of paper that has been folded once with one end pressed down by a heavy object, B.place the clothes from the chair on the table, flatten the clothes, C.pick up the yellow wrapper from the brown box and throw it in the bin, D.put the blue bandana on the head rest], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000884.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once with one end pressed down by a heavy object", "B.place the clothes from the chair on the table, flatten the clothes", "C.pick up the yellow wrapper from the brown box and throw it in the bin", "D.put the blue bandana on the head rest" ] }, { "task_id": "0000885", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0002_scene_0009_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the disc on the wooden stand, B.pull out a napkin, C.chop the chili peppers, D.take the glue stick out of the cup and place it on the black box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000885.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the disc on the wooden stand", "B.pull out a napkin", "C.chop the chili peppers", "D.take the glue stick out of the cup and place it on the black box" ] }, { "task_id": "0000886", "task": "TrajChoice", "id": "RH20T_cfg1_task_0079_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the Rubik's cube on top of the green block, B.put the glasses in the glasses case, C.sweep the top of the dishwasher, D.open the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000886.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the Rubik's cube on top of the green block", "B.put the glasses in the glasses case", "C.sweep the top of the dishwasher", "D.open the microwave door" ] }, { "task_id": "0000887", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0014_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button from top to bottom, B.move the bottle in the lower half of the box and put it on the left side of the table, C.place the brush on the pen rack, D.use the eraser to wipe the scribble on the right side of the whiteboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000887.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.move the bottle in the lower half of the box and put it on the left side of the table", "C.place the brush on the pen rack", "D.use the eraser to wipe the scribble on the right side of the whiteboard" ] }, { "task_id": "0000888", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the toaster, B.take the silver bowl from the desk and move it to the left side, C.pour the water from one cup into another empty cup, D.pick up the grey clothing from the bin and hang it on the back of the chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000888.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the toaster", "B.take the silver bowl from the desk and move it to the left side", "C.pour the water from one cup into another empty cup", "D.pick up the grey clothing from the bin and hang it on the back of the chair" ] }, { "task_id": "0000889", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.the folding tablecloth, B.press the button from top to bottom, C.assemble one piece of a puzzle, D.approach and touch an object with obstacles], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000889.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the folding tablecloth", "B.press the button from top to bottom", "C.assemble one piece of a puzzle", "D.approach and touch an object with obstacles" ] }, { "task_id": "0000890", "task": "TrajChoice", "id": "RH20T_cfg1_task_0109_user_0015_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open a box, B.move the marker from the back end of the desk to the left side of the desk, C.move the blue gameboard to the front, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000890.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.move the marker from the back end of the desk to the left side of the desk", "C.move the blue gameboard to the front", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0000891", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0010_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the electricity extension and the transparent package in the upper drawer, and close it, B.take out the light bulb by rotating it, C.open the drawer, D.move the object to the right side] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000891.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the electricity extension and the transparent package in the upper drawer, and close it", "B.take out the light bulb by rotating it", "C.open the drawer", "D.move the object to the right side" ] }, { "task_id": "0000892", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the book on the top shelf, B.take the square out of the gift box and put it on the left side of the table, C.move the black object from the left side to the right side, D.pour the object from the black bag into the right transparent cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000892.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the top shelf", "B.take the square out of the gift box and put it on the left side of the table", "C.move the black object from the left side to the right side", "D.pour the object from the black bag into the right transparent cup" ] }, { "task_id": "0000893", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the marker to the right, B.push the soccer ball into the goal, C.partially unscrew the bottle's cap, D.close the middle drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000893.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the right", "B.push the soccer ball into the goal", "C.partially unscrew the bottle's cap", "D.close the middle drawer" ] }, { "task_id": "0000894", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the air conditioner, B.take the stuffed toy away from the computer and put it on the table, C.move the bowl from the table to the cup, D.flip over and spread out the paper that is laid flat on the table] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000894.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the air conditioner", "B.take the stuffed toy away from the computer and put it on the table", "C.move the bowl from the table to the cup", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0000895", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn on the desk lamp by pressing the button, B.turn on the power strip by pressing the button, C.put the object on the table, D.take the pencil out from the pencil sharpener], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000895.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.turn on the power strip by pressing the button", "C.put the object on the table", "D.take the pencil out from the pencil sharpener" ] }, { "task_id": "0000896", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0003_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.water the plant, C.move the object into the bag, D.Insert the tip of a small pipette into the holder for small pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000896.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.water the plant", "C.move the object into the bag", "D.Insert the tip of a small pipette into the holder for small pipette tips" ] }, { "task_id": "0000897", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the marker out of the cup, B.rotate the steering wheel 90 degrees clockwise, C.put the white bowl on the scale, open the lid on the electric kettle, D.remove the glass lid from the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000897.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup", "B.rotate the steering wheel 90 degrees clockwise", "C.put the white bowl on the scale, open the lid on the electric kettle", "D.remove the glass lid from the pot" ] }, { "task_id": "0000898", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the black bowl to the left, B.transfer the item from the table to the box, C.push the lever, D.move the mug slightly] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000898.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black bowl to the left", "B.transfer the item from the table to the box", "C.push the lever", "D.move the mug slightly" ] }, { "task_id": "0000899", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grasp the handle and open the drawer, B.hang the cloth on the screen, C.screw the lid clockwise, D.close the open drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000899.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.hang the cloth on the screen", "C.screw the lid clockwise", "D.close the open drawer" ] }, { "task_id": "0000900", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the hanger on the black rack, B.sweeping a small block with the gripper from left to right on the table, C.place the paper upside down on the table, D.remove the block that is stacked on top] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000900.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the hanger on the black rack", "B.sweeping a small block with the gripper from left to right on the table", "C.place the paper upside down on the table", "D.remove the block that is stacked on top" ] }, { "task_id": "0000901", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the cup to the left, B.take the green can out of the cabinet and put it on the counter, C.put the green ball into the ball bucket from the table, D.press three buttons from left to right in sequence], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000901.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the left", "B.take the green can out of the cabinet and put it on the counter", "C.put the green ball into the ball bucket from the table", "D.press three buttons from left to right in sequence" ] }, { "task_id": "0000902", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the object in the basin, B.turn on the third switch on the extension cord, C.open a sliding window, D.move the pink plushie from the bowl to the blue box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000902.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the basin", "B.turn on the third switch on the extension cord", "C.open a sliding window", "D.move the pink plushie from the bowl to the blue box" ] }, { "task_id": "0000903", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the orange block on top of the yellow block, B.open the sliding lid on the travel mug, C.sliding toaster switch, D.open a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000903.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange block on top of the yellow block", "B.open the sliding lid on the travel mug", "C.sliding toaster switch", "D.open a sliding window" ] }, { "task_id": "0000904", "task": "TrajChoice", "id": "RH20T_cfg3_task_0060_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the knob to decrease the volume of the speaker, B.put the clip on the cup, C.play jenga, D.put the bottle in the bag] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000904.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.put the clip on the cup", "C.play jenga", "D.put the bottle in the bag" ] }, { "task_id": "0000905", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the red marker in the mug, B.close the washing machine door, C.moving the transparent lid from the transparent box to the table, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000905.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red marker in the mug", "B.close the washing machine door", "C.moving the transparent lid from the transparent box to the table", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0000906", "task": "TrajChoice", "id": "RH20T_cfg2_task_0045_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the items from the transparent bowl onto the towel, B.pick up a small block, C.place the brush on the pen rack, D.use the gripper to push and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000906.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items from the transparent bowl onto the towel", "B.pick up a small block", "C.place the brush on the pen rack", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0000907", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the lever on the toaster downwards, B.turn on the desk lamp by pressing the button, C.put the marker in the white mug, D.unfold the towel on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000907.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lever on the toaster downwards", "B.turn on the desk lamp by pressing the button", "C.put the marker in the white mug", "D.unfold the towel on the table" ] }, { "task_id": "0000908", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the towel on the couch, B.move the cup from the countertop to the cutting board, C.take out a Hanoi block and throw it aside, D.put the cup on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000908.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the couch", "B.move the cup from the countertop to the cutting board", "C.take out a Hanoi block and throw it aside", "D.put the cup on the table" ] }, { "task_id": "0000909", "task": "TrajChoice", "id": "RH20T_cfg1_task_0089_user_0015_scene_0005_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.insert the toilet paper into its holder, B.push a block, C.use the white towel to move the objects on the table to the left, then put the towel in the bowl, D.put the toy into the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000909.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the toilet paper into its holder", "B.push a block", "C.use the white towel to move the objects on the table to the left, then put the towel in the bowl", "D.put the toy into the green bowl" ] }, { "task_id": "0000910", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the top drawer, B.remove the book from the bowl and put it on the top of the head rest of the sofa, C.turn on the water tap, D.put the towel into the basket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000910.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer", "B.remove the book from the bowl and put it on the top of the head rest of the sofa", "C.turn on the water tap", "D.put the towel into the basket" ] }, { "task_id": "0000911", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the yellow pen out of the blue bowl, B.take out a Hanoi block and place it on the table behind the shelf, C.press the button on the machine, D.grab a basketball, release it and shoot it into the basket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000911.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the yellow pen out of the blue bowl", "B.take out a Hanoi block and place it on the table behind the shelf", "C.press the button on the machine", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0000912", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.unfold the leg of the glasses (with one hand), B.grab the green small plate on the right side of the desk, move it to the middle area of the desk, and then put it down, C.place the sprite can in the sink, D.cover the kettle with the lid on], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000912.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.grab the green small plate on the right side of the desk, move it to the middle area of the desk, and then put it down", "C.place the sprite can in the sink", "D.cover the kettle with the lid on" ] }, { "task_id": "0000913", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the brown mug from the sink and place it on the countertop, B.remove the object from the scale, C.push the banana toy next to the tray into the tray, D.place the bottle on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000913.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the brown mug from the sink and place it on the countertop", "B.remove the object from the scale", "C.push the banana toy next to the tray into the tray", "D.place the bottle on the table" ] }, { "task_id": "0000915", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the black tape to the left, B.grasp the handle and close the drawer, C.wipe the plate with a towel, D.water the plant] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000915.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black tape to the left", "B.grasp the handle and close the drawer", "C.wipe the plate with a towel", "D.water the plant" ] }, { "task_id": "0000916", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the white cup and put it in the dish rack, B.open the cupboard door, C.push the plate into the goal, D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000916.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the white cup and put it in the dish rack", "B.open the cupboard door", "C.push the plate into the goal", "D.put the toilet paper on its holder" ] }, { "task_id": "0000917", "task": "TrajChoice", "id": "RH20T_cfg1_task_0016_user_0014_scene_0005_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take out a straw from the open drawer and put it on the countertop, then close the open drawer, B.place the mug on the coffee maker, C.pick up the bottle and put it in the basket, D.hit the pool ball] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000917.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a straw from the open drawer and put it on the countertop, then close the open drawer", "B.place the mug on the coffee maker", "C.pick up the bottle and put it in the basket", "D.hit the pool ball" ] }, { "task_id": "0000918", "task": "TrajChoice", "id": "RH20T_cfg1_task_0013_user_0005_scene_0005_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the block on the scale, B.move the cup from the left side of the table to the right side, C.wipe the book, D.pull the white rope to the middle of the blackboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000918.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.move the cup from the left side of the table to the right side", "C.wipe the book", "D.pull the white rope to the middle of the blackboard" ] }, { "task_id": "0000919", "task": "TrajChoice", "id": "RH20T_cfg5_task_0053_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the small black object on the tray, B.press the light switch on the right side of the wall to turn it on or off, C.pick up the clamp and clamp it onto the edge of the plate, D.remove the jar and put it on the table top], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000919.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small black object on the tray", "B.press the light switch on the right side of the wall to turn it on or off", "C.pick up the clamp and clamp it onto the edge of the plate", "D.remove the jar and put it on the table top" ] }, { "task_id": "0000920", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.Insert the tip of a medium pipette into the holder for medium pipette tips, B.move the basin and the clothes to the right side of the sofa, move the books on the clothes to the table above the sofa, C.take something out of a drawer, D.put the scissors on the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000920.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a medium pipette into the holder for medium pipette tips", "B.move the basin and the clothes to the right side of the sofa, move the books on the clothes to the table above the sofa", "C.take something out of a drawer", "D.put the scissors on the bowl" ] }, { "task_id": "0000921", "task": "TrajChoice", "id": "RH20T_cfg5_task_0091_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the tissue paper out of the box and place it on the table, B.put the pen into the pen holder, C.move an object from one box to another, D.pick up the straw from the table and put it in the can] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000921.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the tissue paper out of the box and place it on the table", "B.put the pen into the pen holder", "C.move an object from one box to another", "D.pick up the straw from the table and put it in the can" ] }, { "task_id": "0000922", "task": "TrajChoice", "id": "RH20T_cfg5_task_0075_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick the purple hanger on the table and hang it on the stand, B.put the orange spoon onto the dish rack, C.place the handset of the telephone on the corresponding phone cradle, D.finish setting up the starting position of the chessboard that is almost arranged], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000922.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the purple hanger on the table and hang it on the stand", "B.put the orange spoon onto the dish rack", "C.place the handset of the telephone on the corresponding phone cradle", "D.finish setting up the starting position of the chessboard that is almost arranged" ] }, { "task_id": "0000923", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.play jenga, B.move the white fabric to the shelf, C.move the object and place the object in the right plate, D.pick up the duster and rub the white board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000923.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.move the white fabric to the shelf", "C.move the object and place the object in the right plate", "D.pick up the duster and rub the white board" ] }, { "task_id": "0000924", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the cupboard on the left, B.turn on the fourth switch from the right, C.put the toilet paper on its holder, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000924.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the cupboard on the left", "B.turn on the fourth switch from the right", "C.put the toilet paper on its holder", "D.pick up a bag of things" ] }, { "task_id": "0000926", "task": "TrajChoice", "id": "RH20T_cfg4_task_0075_user_0007_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the marker and put it in the cup, B.finish setting up the starting position of a chessboard that is almost arranged, C.move the rubber duck to the top of the shelf, D.open the bottom drawer of the file cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000926.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the cup", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.move the rubber duck to the top of the shelf", "D.open the bottom drawer of the file cabinet" ] }, { "task_id": "0000927", "task": "TrajChoice", "id": "RH20T_cfg1_task_0016_user_0005_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.hit the pool ball, B.pull out a napkin, C.put the bottle in the bag, D.put the marker into the mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000927.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.pull out a napkin", "C.put the bottle in the bag", "D.put the marker into the mug" ] }, { "task_id": "0000928", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the remote, B.open a sliding window, C.put the plate in the basket, D.put the knife on the cutting board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000928.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the remote", "B.open a sliding window", "C.put the plate in the basket", "D.put the knife on the cutting board" ] }, { "task_id": "0000929", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.move the bottle to the right side of the table, C.open the microwave door, D.slightly turn the faucet to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000929.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.move the bottle to the right side of the table", "C.open the microwave door", "D.slightly turn the faucet to the left" ] }, { "task_id": "0000930", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick the green block and move it up on the table, B.put the pen into the pen holder, C.the cylindrical block is placed on the block, D.pick up the clothes on the table and put them on the back rest of the chair], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000930.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the green block and move it up on the table", "B.put the pen into the pen holder", "C.the cylindrical block is placed on the block", "D.pick up the clothes on the table and put them on the back rest of the chair" ] }, { "task_id": "0000931", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0005_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the marker out of the cup and put it on the table, B.turn off the desk lamp by pressing the button, C.take the yellow pepper out of the orange bowl and put it on the table, D.move the bread plush toy to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000931.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup and put it on the table", "B.turn off the desk lamp by pressing the button", "C.take the yellow pepper out of the orange bowl and put it on the table", "D.move the bread plush toy to the right" ] }, { "task_id": "0000932", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the door on the right side of the cabinet to the closed position, B.use the lint roller to clean the napkin on the table, C.take the cup off the cup rack, D.Insert the tip of a large pipette into the holder for large pipette tips] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000932.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the door on the right side of the cabinet to the closed position", "B.use the lint roller to clean the napkin on the table", "C.take the cup off the cup rack", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0000933", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0002_scene_0002_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.approach and touch the side of the small block, B.take the blue pen out of the light blue cup, C.put the marker in the cup, D.press the button on the water dispenser], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000933.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.take the blue pen out of the light blue cup", "C.put the marker in the cup", "D.press the button on the water dispenser" ] }, { "task_id": "0000934", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grab the block and place it at the designated location, B.wave the flag, C.put the blue marker inside the yellow mug, D.remove the marker from the grey bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000934.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.wave the flag", "C.put the blue marker inside the yellow mug", "D.remove the marker from the grey bowl" ] }, { "task_id": "0000935", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0004_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wipe the surface of the stove with a paper towel, B.grasp the handle and close the drawer, C.stack the two black objects on the desk together, D.put the pen in the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000935.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the surface of the stove with a paper towel", "B.grasp the handle and close the drawer", "C.stack the two black objects on the desk together", "D.put the pen in the cup" ] }, { "task_id": "0000936", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the hands of the clock, B.clean the table with a cloth, C.remove the black pen from the white mug and place it on the left side of the desk, D.close the faucet using the handle on the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000936.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of the clock", "B.clean the table with a cloth", "C.remove the black pen from the white mug and place it on the left side of the desk", "D.close the faucet using the handle on the right" ] }, { "task_id": "0000937", "task": "TrajChoice", "id": "RH20T_cfg5_task_0033_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker into the cup, B.grasp a small block to sweep the other small block into the designated position, C.stacking blocks (small Lego) is done randomly one at a time, D.place the bottle on the table into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000937.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the cup", "B.grasp a small block to sweep the other small block into the designated position", "C.stacking blocks (small Lego) is done randomly one at a time", "D.place the bottle on the table into the bowl" ] }, { "task_id": "0000938", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0014_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button from top to bottom, B.rotate the faucet nozzle counterclockwise, C.place the yellow block inside the blue cup, D.move the bear plush toy to the sink], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000938.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.rotate the faucet nozzle counterclockwise", "C.place the yellow block inside the blue cup", "D.move the bear plush toy to the sink" ] }, { "task_id": "0000939", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0008_cfg_0002_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the knob to increase the volume of the speaker, B.put the pen in the black cup into the white cup, C.move the block onto the big block, D.open the coffee mug] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000939.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.put the pen in the black cup into the white cup", "C.move the block onto the big block", "D.open the coffee mug" ] }, { "task_id": "0000941", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the green object from the table and put it in the bowl, B.transfer the towel from the fabric to the bathroom wall, C.wave the flag, D.put the orange square on the green cylinder to the right side of the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000941.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green object from the table and put it in the bowl", "B.transfer the towel from the fabric to the bathroom wall", "C.wave the flag", "D.put the orange square on the green cylinder to the right side of the table" ] }, { "task_id": "0000942", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the bowl, B.turn the tap nozzle to the right, C.approach and touch the side of the small block, D.close the laptop completely] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000942.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the bowl", "B.turn the tap nozzle to the right", "C.approach and touch the side of the small block", "D.close the laptop completely" ] }, { "task_id": "0000943", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.screw the lid onto the jar (needs to be rotated), B.put the square bowl on the white table, C.pick up the object and put it on the pillow, D.remove the object from the right box and place it in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000943.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar (needs to be rotated)", "B.put the square bowl on the white table", "C.pick up the object and put it on the pillow", "D.remove the object from the right box and place it in the bowl" ] }, { "task_id": "0000944", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the knob to increase the volume of the speaker, B.put the cardboard box into the plastic container, C.put the knife on the knife rack, D.remove the blue pen from the red and black mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000944.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.put the cardboard box into the plastic container", "C.put the knife on the knife rack", "D.remove the blue pen from the red and black mug" ] }, { "task_id": "0000945", "task": "TrajChoice", "id": "RH20T_cfg4_task_0019_user_0016_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull out a napkin from the box and place it on the table, B.move the cup to the right on the table, C.put the yellow block in the blue cup, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000945.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin from the box and place it on the table", "B.move the cup to the right on the table", "C.put the yellow block in the blue cup", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0000946", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0001_cfg_0004_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the marker from the cup and place it on the table, B.plug in the power cord to the socket, C.move the silver pot to the left, D.take the object out of the drawer and place the object on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000946.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the cup and place it on the table", "B.plug in the power cord to the socket", "C.move the silver pot to the left", "D.take the object out of the drawer and place the object on the table" ] }, { "task_id": "0000947", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pushing one block to put the other small block onto the black circle, B.hang the paper bag from the storage rack onto the right-side hook twice in succession, C.move the yellow ball, D.put the brown block in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000947.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pushing one block to put the other small block onto the black circle", "B.hang the paper bag from the storage rack onto the right-side hook twice in succession", "C.move the yellow ball", "D.put the brown block in the bowl" ] }, { "task_id": "0000948", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0015_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the grey object from the table and put it in the pot, B.unwrap the black cable, C.push an object with obstacles, D.move the faucet spout to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000948.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the grey object from the table and put it in the pot", "B.unwrap the black cable", "C.push an object with obstacles", "D.move the faucet spout to the right" ] }, { "task_id": "0000949", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0008_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drag the silver plate to the goal post, B.put the toilet paper on the toilet paper holder, C.take the black lid off the white bottle and put it on the table, D.turn the faucet to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000949.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the silver plate to the goal post", "B.put the toilet paper on the toilet paper holder", "C.take the black lid off the white bottle and put it on the table", "D.turn the faucet to the left" ] }, { "task_id": "0000950", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the clear bowl to the right side of the table, B.pick up the bottle from the microwave and put it on the counter, C.turn off the desk lamp by pressing the button, D.place the block on the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000950.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clear bowl to the right side of the table", "B.pick up the bottle from the microwave and put it on the counter", "C.turn off the desk lamp by pressing the button", "D.place the block on the scale" ] }, { "task_id": "0000951", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.grasp the handle and close the drawer, B.pick up the black remote and put it on the blue pillow on the right, C.pick up the bottle with a black liquid and put it on the table, D.folding a towel on the sofa], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000951.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.pick up the black remote and put it on the blue pillow on the right", "C.pick up the bottle with a black liquid and put it on the table", "D.folding a towel on the sofa" ] }, { "task_id": "0000952", "task": "TrajChoice", "id": "RH20T_cfg1_task_0031_user_0015_scene_0002_cfg_0001_750612070851#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.cover the box, B.pick up the can from the sink and put it on the counter, C.pour the contents in the jug into a bowl, D.rotate the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000952.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.pick up the can from the sink and put it on the counter", "C.pour the contents in the jug into a bowl", "D.rotate the button" ] }, { "task_id": "0000953", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the object into the bowl, B.put the clear cover on the clear box, C.move the black kettle on the counter, D.drag the plate back after holding it down] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000953.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object into the bowl", "B.put the clear cover on the clear box", "C.move the black kettle on the counter", "D.drag the plate back after holding it down" ] }, { "task_id": "0000954", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0014_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use the white cloth to wipe the pan, B.pull out a napkin, C.move the silver bowl backwards then place the silver spoon in the bowl, D.place the wrench in the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000954.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the white cloth to wipe the pan", "B.pull out a napkin", "C.move the silver bowl backwards then place the silver spoon in the bowl", "D.place the wrench in the black bowl" ] }, { "task_id": "0000955", "task": "TrajChoice", "id": "RH20T_cfg1_task_0212_user_0010_scene_0009_cfg_0001_819112071037#180", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.the small pipette tips will be transferred from one holder for small pipette tips to another holder for small pipette tips, B.put the pen in the cup, C.put the spoon on the paper towel, D.press a button from top to bottom with obstacles] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000955.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the small pipette tips will be transferred from one holder for small pipette tips to another holder for small pipette tips", "B.put the pen in the cup", "C.put the spoon on the paper towel", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0000956", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the K cup from the counter and put it in the box, B.close a sliding window, C.play the first move as black on the 3-4 point in the upper left corner, D.turn the hands of a clock] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000956.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the K cup from the counter and put it in the box", "B.close a sliding window", "C.play the first move as black on the 3-4 point in the upper left corner", "D.turn the hands of a clock" ] }, { "task_id": "0000957", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.change the direction which the tap is facing, B.take the fork out of the coffee cup and put it on the front left side of the stove, C.hang the clothes on the back of the chair, D.push an object with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000957.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.change the direction which the tap is facing", "B.take the fork out of the coffee cup and put it on the front left side of the stove", "C.hang the clothes on the back of the chair", "D.push an object with obstacles" ] }, { "task_id": "0000958", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the silver bowl to the counter on the left, B.water the plant, C.use the blue sponge to scrub the left side of the counter, D.slide the towel on the table, move the object to the lower left side, move the object to the right side of the towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000958.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the silver bowl to the counter on the left", "B.water the plant", "C.use the blue sponge to scrub the left side of the counter", "D.slide the towel on the table, move the object to the lower left side, move the object to the right side of the towel" ] }, { "task_id": "0000959", "task": "TrajChoice", "id": "RH20T_cfg7_task_0051_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the dish off the dish rack, B.hang the clothes on the back of the chair, C.use the blue cloth to wipe the board, D.move the Rubik's cube from the right side of the table to the left side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000959.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.hang the clothes on the back of the chair", "C.use the blue cloth to wipe the board", "D.move the Rubik's cube from the right side of the table to the left side of the table" ] }, { "task_id": "0000960", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0007_scene_0009_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.transfer the black pen from the cup to the table, B.move the yellow block to the front left, C.open the cabinet, D.place the pieces on the chessboard], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000960.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the black pen from the cup to the table", "B.move the yellow block to the front left", "C.open the cabinet", "D.place the pieces on the chessboard" ] }, { "task_id": "0000961", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0005_scene_0004_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the blue bowl on the beige cup holder, B.take the pencil off of the rack and put it on the table, C.water the plant, D.turn off the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000961.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue bowl on the beige cup holder", "B.take the pencil off of the rack and put it on the table", "C.water the plant", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0000963", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the wooden block on the table to the left side of the frame, B.move the tank to the right, C.put the chopsticks into the cup, D.flip over and spread out the paper that is laid flat on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000963.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the wooden block on the table to the left side of the frame", "B.move the tank to the right", "C.put the chopsticks into the cup", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0000964", "task": "TrajChoice", "id": "RH20T_cfg3_task_0052_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the pillow to the left, B.grab a basketball, release it and shoot it into the basket, C.close the box, D.put the green object inside the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000964.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pillow to the left", "B.grab a basketball, release it and shoot it into the basket", "C.close the box", "D.put the green object inside the pot" ] }, { "task_id": "0000965", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.fold the towel on the table, B.slide the outer casing onto the gift box, C.rotate the faucet head clockwise, D.take out the black items from the basket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000965.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the towel on the table", "B.slide the outer casing onto the gift box", "C.rotate the faucet head clockwise", "D.take out the black items from the basket" ] }, { "task_id": "0000966", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0001_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the object out of the box and put it back into the box, B.open the tap, C.clean the table with a towel, put the towel into the box, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000966.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object out of the box and put it back into the box", "B.open the tap", "C.clean the table with a towel, put the towel into the box", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0000967", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the objects on the black cabinet on the desk, B.grasp a block to push another block onto the black circle, C.close the top drawer of the left cabinet, D.pick up the glass bottle and move it to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000967.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the objects on the black cabinet on the desk", "B.grasp a block to push another block onto the black circle", "C.close the top drawer of the left cabinet", "D.pick up the glass bottle and move it to the left" ] }, { "task_id": "0000968", "task": "TrajChoice", "id": "RH20T_cfg5_task_0018_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the blocks from the block tower, B.hang the fabric on the glass panel, C.remove the marker from the cup and place it on the table, D.move the hanger from the table to the hook] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000968.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the blocks from the block tower", "B.hang the fabric on the glass panel", "C.remove the marker from the cup and place it on the table", "D.move the hanger from the table to the hook" ] }, { "task_id": "0000969", "task": "TrajChoice", "id": "RH20T_cfg2_task_0205_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the blue object inside the drawer then close the drawer, B.chop the scallions, C.put the bottle in the bowl, D.pulling the handle of the sliding window to open the window], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000969.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object inside the drawer then close the drawer", "B.chop the scallions", "C.put the bottle in the bowl", "D.pulling the handle of the sliding window to open the window" ] }, { "task_id": "0000970", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the drawer, B.move the white mug from the black bowl to the top of the cabinet, C.get the headphones from the table and put them on the second shelf of the top row, D.turn on the light], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000970.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.move the white mug from the black bowl to the top of the cabinet", "C.get the headphones from the table and put them on the second shelf of the top row", "D.turn on the light" ] }, { "task_id": "0000971", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the top drawer of the cabinet to the left, B.use the white towel to push the white object on the table backwards, C.swat with a flyswatter, D.put the bottle in the box] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000971.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the cabinet to the left", "B.use the white towel to push the white object on the table backwards", "C.swat with a flyswatter", "D.put the bottle in the box" ] }, { "task_id": "0000972", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the marker out of the mug and put it on the table, B.push the door handle down and open the door, C.flick the first switch on the extension cord, D.pick up the bubble ring from the desk and move it to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000972.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the mug and put it on the table", "B.push the door handle down and open the door", "C.flick the first switch on the extension cord", "D.pick up the bubble ring from the desk and move it to the right" ] }, { "task_id": "0000973", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use the correction tape on paper, B.put the cup in the sink, C.pick up the orange cup and place it in the black bowl, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000973.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the correction tape on paper", "B.put the cup in the sink", "C.pick up the orange cup and place it in the black bowl", "D.play the drum" ] }, { "task_id": "0000974", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.stack the cups, B.transfer the block from the table to the box, C.pick up the bottle from the window and put it on the drawer, D.drop a coin into a piggy bank], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000974.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the cups", "B.transfer the block from the table to the box", "C.pick up the bottle from the window and put it on the drawer", "D.drop a coin into a piggy bank" ] }, { "task_id": "0000976", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the plate into the goal, B.move the cloth from the hook to the countertop, C.remove the towel from the colourless screen and put it on the table, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000976.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plate into the goal", "B.move the cloth from the hook to the countertop", "C.remove the towel from the colourless screen and put it on the table", "D.grab the block and place it at the designated location" ] }, { "task_id": "0000977", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.approach and touch the side of the small block, B.put the object into the container, C.move the grey object upwards, D.pour the items from the white bowl onto the table, move the bowl to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000977.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.put the object into the container", "C.move the grey object upwards", "D.pour the items from the white bowl onto the table, move the bowl to the right" ] }, { "task_id": "0000978", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move objects from block and table to the bowl, B.open the trash can, C.pick up the cup, D.push an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000978.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move objects from block and table to the bowl", "B.open the trash can", "C.pick up the cup", "D.push an object with obstacles" ] }, { "task_id": "0000979", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.play the drum, B.push the small block to the specified position by grasping the large block, C.the eraser fell to the ground after wiping the whiteboard, D.pick up and place an object with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000979.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.push the small block to the specified position by grasping the large block", "C.the eraser fell to the ground after wiping the whiteboard", "D.pick up and place an object with obstacles" ] }, { "task_id": "0000980", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grab the block and place it at the designated location, B.pick up a bag of things, C.push the soccer ball into the goal, D.take the red marker out of the grey bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000980.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.pick up a bag of things", "C.push the soccer ball into the goal", "D.take the red marker out of the grey bowl" ] }, { "task_id": "0000983", "task": "TrajChoice", "id": "RH20T_cfg6_task_0090_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the blackboard eraser, wipe the whiteboard clean and put it down, B.move the cloth from the table to the hanger, C.remove the lid from the white pot on the right side of the stove, D.pull the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000983.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blackboard eraser, wipe the whiteboard clean and put it down", "B.move the cloth from the table to the hanger", "C.remove the lid from the white pot on the right side of the stove", "D.pull the cup" ] }, { "task_id": "0000984", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object in the box onto the table, B.put the coca cola bottle on top of the microwave, C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, D.put the cloth on the black rod] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000984.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the box onto the table", "B.put the coca cola bottle on top of the microwave", "C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "D.put the cloth on the black rod" ] }, { "task_id": "0000985", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0010_scene_0010_cfg_0004_104122062823#402", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the key on the keyboard, B.move the yellow object to the right, C.move the bottle from the right side of the table to the left side of the table, D.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000985.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the key on the keyboard", "B.move the yellow object to the right", "C.move the bottle from the right side of the table to the left side of the table", "D.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb" ] }, { "task_id": "0000986", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the yellow cable in the gray box, B.put the lid of the gift box on the table, C.open the oven door, D.close the open cupboard door] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000986.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow cable in the gray box", "B.put the lid of the gift box on the table", "C.open the oven door", "D.close the open cupboard door" ] }, { "task_id": "0000987", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the clothes hanger from the rack to the table, B.put the yellow object into the pot in the sink, C.take the roll of paper down from the shelf, D.play the first move as black on the 3-4 point in the upper right corner of the Go board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000987.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clothes hanger from the rack to the table", "B.put the yellow object into the pot in the sink", "C.take the roll of paper down from the shelf", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0000988", "task": "TrajChoice", "id": "RH20T_cfg1_task_0120_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pour the contents of the cup into the bowl, B.pick up the pen and place it in the cup, C.pick up the pen from the mug and put it on the table, D.installing the light bulb by rotating it] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000988.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the cup into the bowl", "B.pick up the pen and place it in the cup", "C.pick up the pen from the mug and put it on the table", "D.installing the light bulb by rotating it" ] }, { "task_id": "0000989", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the bottle from the right side of the box and put it in the box, B.close a sliding window, C.move the plate, D.move the cup towards the bottom right of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000989.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bottle from the right side of the box and put it in the box", "B.close a sliding window", "C.move the plate", "D.move the cup towards the bottom right of the table" ] }, { "task_id": "0000990", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.drop a coin into a piggy bank, B.put the strainer from the cup into the bowl, C.finish setting up the starting position of a chessboard that is almost arranged, D.transfer the block to the marked point] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000990.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.put the strainer from the cup into the bowl", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.transfer the block to the marked point" ] }, { "task_id": "0000991", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the drum, B.push the microwave door to close the microwave, C.move the mug from the back of the frying pan to the front of the frying pan, D.slide the gray towel to the left on the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000991.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.push the microwave door to close the microwave", "C.move the mug from the back of the frying pan to the front of the frying pan", "D.slide the gray towel to the left on the desk" ] }, { "task_id": "0000992", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the blue disk on the table, B.grasp a small block to sweep the other small block into the designated position, C.play the drum, D.pick up the brown cup from the counter and put it in the dishwasher], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000992.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue disk on the table", "B.grasp a small block to sweep the other small block into the designated position", "C.play the drum", "D.pick up the brown cup from the counter and put it in the dishwasher" ] }, { "task_id": "0000993", "task": "TrajChoice", "id": "RH20T_cfg1_task_0068_user_0010_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the towel on the table, B.push the tap handle down, C.pick up a green block from the bag and place it on the table, D.press a button horizontally with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000993.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the table", "B.push the tap handle down", "C.pick up a green block from the bag and place it on the table", "D.press a button horizontally with obstacles" ] }, { "task_id": "0000994", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the pen from the table and put it in the white bowl, B.turn the knob clockwise, C.use a towel to wipe the table, D.put a remote control on the left armrest of the sofa] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000994.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the table and put it in the white bowl", "B.turn the knob clockwise", "C.use a towel to wipe the table", "D.put a remote control on the left armrest of the sofa" ] }, { "task_id": "0000995", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the bubble ring from the assembled bubble ring and ball, B.place the pot on the sofa back, C.dial a number on an old rotary phone, D.put the coffee liquid box into the trash can and cover the trash can with the lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000995.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.place the pot on the sofa back", "C.dial a number on an old rotary phone", "D.put the coffee liquid box into the trash can and cover the trash can with the lid" ] }, { "task_id": "0000996", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object in the specified position on the table, B.remove the bottle from the mug and put it on the table, C.move the two pillows to the armrest on the right side, D.turn on the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000996.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the specified position on the table", "B.remove the bottle from the mug and put it on the table", "C.move the two pillows to the armrest on the right side", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0000997", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.finish setting up the starting position of a chessboard that is almost arranged, B.put the white box from the table into the plastic box, C.remove the marker from the silver cup and place it on the table, D.put the cup on the left side of the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000997.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.put the white box from the table into the plastic box", "C.remove the marker from the silver cup and place it on the table", "D.put the cup on the left side of the table" ] }, { "task_id": "0000998", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.the cloth on the folding table, B.rotate the button, C.push the soccer ball into the goal, D.switch between the Kleenex boxes], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000998.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the cloth on the folding table", "B.rotate the button", "C.push the soccer ball into the goal", "D.switch between the Kleenex boxes" ] }, { "task_id": "0000999", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup from the left side of the table to the right side of the table, B.take the orange ball off the table and place it in the left bowl, C.turn on the desk lamp by pressing the button, D.sliding a black cloth on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0000999.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup from the left side of the table to the right side of the table", "B.take the orange ball off the table and place it in the left bowl", "C.turn on the desk lamp by pressing the button", "D.sliding a black cloth on the desk" ] }, { "task_id": "0001000", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the wrench inside the green mug, B.moving the laundry detergent from the bowl to the table, C.push the soccer ball into the goal, D.take the marker out of the white and orange mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001000.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the wrench inside the green mug", "B.moving the laundry detergent from the bowl to the table", "C.push the soccer ball into the goal", "D.take the marker out of the white and orange mug" ] }, { "task_id": "0001001", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the pump of the pump bottle, B.put the objects on the table in the target position, C.turn the kettle switch off, D.grasp the handle and close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001001.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the pump of the pump bottle", "B.put the objects on the table in the target position", "C.turn the kettle switch off", "D.grasp the handle and close the drawer" ] }, { "task_id": "0001002", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the grey pot to the left side of the stove, B.throw the flag onto the table, C.wipe the table with an object, D.move the cup from the left side of the table to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001002.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the grey pot to the left side of the stove", "B.throw the flag onto the table", "C.wipe the table with an object", "D.move the cup from the left side of the table to the right side of the table" ] }, { "task_id": "0001003", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.hang the dark towel on the back of the chair, B.close the drawer, C.take the white cloth from the pole and put it on the table, D.push the soccer ball into the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001003.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the dark towel on the back of the chair", "B.close the drawer", "C.take the white cloth from the pole and put it on the table", "D.push the soccer ball into the goal" ] }, { "task_id": "0001004", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the small cube from the scale to the table, B.cover the pot with the lid, C.move the black basket on the table backwards, D.put the green block in the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001004.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the small cube from the scale to the table", "B.cover the pot with the lid", "C.move the black basket on the table backwards", "D.put the green block in the black bowl" ] }, { "task_id": "0001005", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the soccer ball into the goal, B.water the plant, C.push down the lever, D.put the circular ring from the pillar onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001005.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.water the plant", "C.push down the lever", "D.put the circular ring from the pillar onto the table" ] }, { "task_id": "0001006", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the drawer, B.push the lamp to the right and press the lamp down, C.put the shoe on the book, D.Insert the tip of a large pipette into the holder for large pipette tips], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001006.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.push the lamp to the right and press the lamp down", "C.put the shoe on the book", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001007", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0007_scene_0005_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the right cabinet door, B.fold the towel on the desk, C.put the cup on the cup rack, D.pick up the towel from the table and put it on the tripod] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001007.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the right cabinet door", "B.fold the towel on the desk", "C.put the cup on the cup rack", "D.pick up the towel from the table and put it on the tripod" ] }, { "task_id": "0001008", "task": "TrajChoice", "id": "RH20T_cfg6_task_0021_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the opening of the flask, B.turn off the desk lamp by pressing the button, C.put the ruler in the box, D.fold the towel into a triangle twice], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001008.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the opening of the flask", "B.turn off the desk lamp by pressing the button", "C.put the ruler in the box", "D.fold the towel into a triangle twice" ] }, { "task_id": "0001009", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0003_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the marker to the left side of the storage box, B.unscrew the lid from the jar, C.pick up the marker and place it in the cup, D.open the right door of the first cabinet on the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001009.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the left side of the storage box", "B.unscrew the lid from the jar", "C.pick up the marker and place it in the cup", "D.open the right door of the first cabinet on the left" ] }, { "task_id": "0001010", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the object from the kitchen base table and put it in the cup, B.put the things in the drawer, C.push the light switch upwards, D.slide out the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001010.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the object from the kitchen base table and put it in the cup", "B.put the things in the drawer", "C.push the light switch upwards", "D.slide out the box" ] }, { "task_id": "0001011", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0003_cfg_0004_104122062823#266", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.flip over and spread out the paper that is laid flat on the table, B.put the things in the drawer, C.put the glass lid on top of the black pot, D.move the bottle to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001011.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over and spread out the paper that is laid flat on the table", "B.put the things in the drawer", "C.put the glass lid on top of the black pot", "D.move the bottle to the right" ] }, { "task_id": "0001012", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.get the green object and put it in the black bowl, B.drag the plate to the goal post after holding it down, C.stir the object in the bowl with a spoon, D.press the top of the blue object], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001012.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.get the green object and put it in the black bowl", "B.drag the plate to the goal post after holding it down", "C.stir the object in the bowl with a spoon", "D.press the top of the blue object" ] }, { "task_id": "0001013", "task": "TrajChoice", "id": "RH20T_cfg2_task_0031_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the rectangular object and put it on the table, B.place the candy bar on the left side of the first shelf, C.move the bottle forward, D.cover the box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001013.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the rectangular object and put it on the table", "B.place the candy bar on the left side of the first shelf", "C.move the bottle forward", "D.cover the box" ] }, { "task_id": "0001014", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, B.put the dish washing liquid in the washing machine and close the drawer, C.open the microwave door, D.detach an orange disc from the wooden rack and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001014.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "B.put the dish washing liquid in the washing machine and close the drawer", "C.open the microwave door", "D.detach an orange disc from the wooden rack and put it on the table" ] }, { "task_id": "0001015", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0010_scene_0004_cfg_0004_104122062823#396", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the block on the black and white block, B.pick up the marker and place it in the bowl, C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, D.push the drawer door to close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001015.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the black and white block", "B.pick up the marker and place it in the bowl", "C.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "D.push the drawer door to close the drawer" ] }, { "task_id": "0001016", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the faucet to the left, B.pick up the small block on the left and move it to the right, C.put the object on the black object, D.take the bottom bottle from the right compartment of the box and place it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001016.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet to the left", "B.pick up the small block on the left and move it to the right", "C.put the object on the black object", "D.take the bottom bottle from the right compartment of the box and place it on the table" ] }, { "task_id": "0001018", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the white bottle to the left of the white spoon, B.put the toothbrush in the silver cup, C.take the lid off the pot, D.put the bowl into the microwave], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001018.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white bottle to the left of the white spoon", "B.put the toothbrush in the silver cup", "C.take the lid off the pot", "D.put the bowl into the microwave" ] }, { "task_id": "0001019", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull out a napkin, B.take the lid off the pot, C.move the bottle to the left, D.pick the pen on the counter and put it in the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001019.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.take the lid off the pot", "C.move the bottle to the left", "D.pick the pen on the counter and put it in the cup" ] }, { "task_id": "0001020", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the laptop, B.slide the green cloth to the right and then to the left, C.put the object into the box, D.adjust the lever to a vertical position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001020.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the laptop", "B.slide the green cloth to the right and then to the left", "C.put the object into the box", "D.adjust the lever to a vertical position" ] }, { "task_id": "0001021", "task": "TrajChoice", "id": "RH20T_cfg1_task_0092_user_0014_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the lid from the right side of the table and place the lid on the pot, B.turn on the power strip by pressing the button, C.turn the hands of a clock, D.remove the grey masking tape from the second shelf and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001021.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid from the right side of the table and place the lid on the pot", "B.turn on the power strip by pressing the button", "C.turn the hands of a clock", "D.remove the grey masking tape from the second shelf and put it on the table" ] }, { "task_id": "0001022", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the tabletop with a pink towel, B.pick up the beverage can and put it in the sink, C.put the toilet paper on its holder, D.push the flower pot to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001022.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the tabletop with a pink towel", "B.pick up the beverage can and put it in the sink", "C.put the toilet paper on its holder", "D.push the flower pot to the left" ] }, { "task_id": "0001023", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the contents from the white plastic bag and put them on the table one at a time, B.put the paper towel roll on the paper towel holder, C.play the drum, D.move the orange and white bottle to the center of the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001023.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the contents from the white plastic bag and put them on the table one at a time", "B.put the paper towel roll on the paper towel holder", "C.play the drum", "D.move the orange and white bottle to the center of the counter" ] }, { "task_id": "0001024", "task": "TrajChoice", "id": "RH20T_cfg2_task_0029_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use the yellow towel to wipe the table, B.pour the water from one cup into another empty cup, C.grasp the handle and open the drawer, D.throw the hair tie onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001024.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the yellow towel to wipe the table", "B.pour the water from one cup into another empty cup", "C.grasp the handle and open the drawer", "D.throw the hair tie onto the table" ] }, { "task_id": "0001025", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grab the block and place it at the designated location, B.pick up the marker from the desk and put it into the pot, C.move the yellow plush to the left, D.take the cup off the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001025.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.pick up the marker from the desk and put it into the pot", "C.move the yellow plush to the left", "D.take the cup off the cup rack" ] }, { "task_id": "0001026", "task": "TrajChoice", "id": "RH20T_cfg2_task_0050_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the brush on the pen rack, B.put the dish on the dish rack, C.turn over the object on the right side of the microwave, D.stir the water in the pot counterclockwise with the spatula] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001026.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.put the dish on the dish rack", "C.turn over the object on the right side of the microwave", "D.stir the water in the pot counterclockwise with the spatula" ] }, { "task_id": "0001027", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use the gripper to push and close the drawer, B.put the thing on the stovetop inside the pot in the sink, C.close the cabinet door, D.rotate the shelf on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001027.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.put the thing on the stovetop inside the pot in the sink", "C.close the cabinet door", "D.rotate the shelf on the table" ] }, { "task_id": "0001028", "task": "TrajChoice", "id": "RH20T_cfg6_task_0063_user_0007_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the things in the drawer, B.remove the marker from the silver pot and put it on the table, C.put the box into the bag, D.use a shovel to scoop up a Rubik's cube] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001028.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.remove the marker from the silver pot and put it on the table", "C.put the box into the bag", "D.use a shovel to scoop up a Rubik's cube" ] }, { "task_id": "0001031", "task": "TrajChoice", "id": "RH20T_cfg3_task_0023_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the microwave door, B.put the red marker inside the brown mug, C.turn on the power strip by pressing the button, D.use the gripper to push and close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001031.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.put the red marker inside the brown mug", "C.turn on the power strip by pressing the button", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0001032", "task": "TrajChoice", "id": "RH20T_cfg4_task_0047_user_0014_scene_0020_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.stacking blocks (small Lego) randomly one at a time, B.remove the green towel from the drawer and put it on the top, C.transfer the object from the cabinet to the top of the cabinet, D.take the cup off the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001032.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks (small Lego) randomly one at a time", "B.remove the green towel from the drawer and put it on the top", "C.transfer the object from the cabinet to the top of the cabinet", "D.take the cup off the cup rack" ] }, { "task_id": "0001033", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white cap with the black cap, B.take the roll of paper down from the shelf, C.pick up the silver fork from the table and place it on the white plate then pick up the white fork from the table and put it on the white plate, D.close the tap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001033.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cap with the black cap", "B.take the roll of paper down from the shelf", "C.pick up the silver fork from the table and place it on the white plate then pick up the white fork from the table and put it on the white plate", "D.close the tap" ] }, { "task_id": "0001034", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup away from you, B.put the cup on the countertop, C.move the seal tape, D.grab the object on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001034.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup away from you", "B.put the cup on the countertop", "C.move the seal tape", "D.grab the object on the table" ] }, { "task_id": "0001035", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the device, B.put the yellow block in the cup, C.take the marker out of the cup and place it on the table, D.put the knife on the cutting board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001035.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the device", "B.put the yellow block in the cup", "C.take the marker out of the cup and place it on the table", "D.put the knife on the cutting board" ] }, { "task_id": "0001036", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.slide the towel to the left side of the table, B.turn off the power strip by pressing the button, C.move the tape to the table, D.turn off the third switch from the right side of the adapter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001036.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the towel to the left side of the table", "B.turn off the power strip by pressing the button", "C.move the tape to the table", "D.turn off the third switch from the right side of the adapter" ] }, { "task_id": "0001037", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use a cloth to wipe the plate, B.put the marker in the bowl, C.remove the object from the scale, D.pour the contents of the bowl into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001037.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a cloth to wipe the plate", "B.put the marker in the bowl", "C.remove the object from the scale", "D.pour the contents of the bowl into the bowl" ] }, { "task_id": "0001038", "task": "TrajChoice", "id": "RH20T_cfg3_task_0066_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use a tissue to wipe the inside of the stove, B.close the tap, C.use the black eraser to erase the writings on the whiteboard, D.build with large megabloks for the nth time with n blocks] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001038.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a tissue to wipe the inside of the stove", "B.close the tap", "C.use the black eraser to erase the writings on the whiteboard", "D.build with large megabloks for the nth time with n blocks" ] }, { "task_id": "0001039", "task": "TrajChoice", "id": "RH20T_cfg3_task_0066_user_0010_scene_0008_cfg_0003_104122062823#341", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.build with large megabloks for the nth time with n blocks, B.slide the towel on the table, C.put the marker in the green mug, D.put the shoe upright], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001039.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large megabloks for the nth time with n blocks", "B.slide the towel on the table", "C.put the marker in the green mug", "D.put the shoe upright" ] }, { "task_id": "0001040", "task": "TrajChoice", "id": "RH20T_cfg5_task_0092_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the hands of the clock clockwise, B.pick up the small block on the left and move it to the right, C.move the bag to the stool, D.move the chess piece to the chessboard], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001040.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of the clock clockwise", "B.pick up the small block on the left and move it to the right", "C.move the bag to the stool", "D.move the chess piece to the chessboard" ] }, { "task_id": "0001041", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the black ball from the bowl onto the table, B.push the drawer door to the closed position, C.grab the block and place it at the designated location, D.open a sliding window] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001041.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black ball from the bowl onto the table", "B.push the drawer door to the closed position", "C.grab the block and place it at the designated location", "D.open a sliding window" ] }, { "task_id": "0001043", "task": "TrajChoice", "id": "RH20T_cfg5_task_0026_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker inside the coffee cup, B.place the circular object behind the table, C.use the gripper to push and close the drawer, D.drop a coin into a piggy bank], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001043.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the coffee cup", "B.place the circular object behind the table", "C.use the gripper to push and close the drawer", "D.drop a coin into a piggy bank" ] }, { "task_id": "0001044", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.water the plant, B.push the plate towards the goal post, C.grab the block and place it at the designated location, D.place the block on the right side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001044.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.push the plate towards the goal post", "C.grab the block and place it at the designated location", "D.place the block on the right side of the table" ] }, { "task_id": "0001045", "task": "TrajChoice", "id": "RH20T_cfg7_task_0013_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.moving the object from the tabletop and placing it above the silver object, B.remove the marker from the cup and place it on the table, C.place the block on the scale, D.put the bottle into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001045.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the object from the tabletop and placing it above the silver object", "B.remove the marker from the cup and place it on the table", "C.place the block on the scale", "D.put the bottle into the bowl" ] }, { "task_id": "0001046", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.shake the white bag, B.move the blue cup on the left to the right, C.turn the knob to decrease the volume of the speaker, D.turn off the third switch from the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001046.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.shake the white bag", "B.move the blue cup on the left to the right", "C.turn the knob to decrease the volume of the speaker", "D.turn off the third switch from the left" ] }, { "task_id": "0001047", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the right door of the middle shelf, B.push the spoon to the right side of the table, C.place the block on the scale, D.pour the objects in the basket onto the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001047.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the right door of the middle shelf", "B.push the spoon to the right side of the table", "C.place the block on the scale", "D.pour the objects in the basket onto the table" ] }, { "task_id": "0001049", "task": "TrajChoice", "id": "RH20T_cfg1_task_0070_user_0010_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the left towel to wipe the pan, B.put the marker in the cup, C.open the window, D.remove the silver knife from the dish rack and put it on the counter] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001049.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the left towel to wipe the pan", "B.put the marker in the cup", "C.open the window", "D.remove the silver knife from the dish rack and put it on the counter" ] }, { "task_id": "0001050", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the blue object from the counter and put it in the open drawer and close the drawer, B.erase the drawing on the board, C.put the knife on the knife rack, D.close the microwave door] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001050.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blue object from the counter and put it in the open drawer and close the drawer", "B.erase the drawing on the board", "C.put the knife on the knife rack", "D.close the microwave door" ] }, { "task_id": "0001051", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.unfold the cloth on the counter, B.pick up a bag of things, C.put the bowl on the plate, D.pick up the black object from the shelf and put it on top of the cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001051.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the cloth on the counter", "B.pick up a bag of things", "C.put the bowl on the plate", "D.pick up the black object from the shelf and put it on top of the cabinet" ] }, { "task_id": "0001052", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the towel in the box, B.move the cup from the center of the table to the edge of the table, C.place the block on the scale, D.throw the ball into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001052.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel in the box", "B.move the cup from the center of the table to the edge of the table", "C.place the block on the scale", "D.throw the ball into the bowl" ] }, { "task_id": "0001053", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0011_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put things in the drawer and close the drawer, B.pull the left end of the fleece towards the center of the sofa, C.take the towel from the hanger to the counter, D.grasp the moving object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001053.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put things in the drawer and close the drawer", "B.pull the left end of the fleece towards the center of the sofa", "C.take the towel from the hanger to the counter", "D.grasp the moving object" ] }, { "task_id": "0001054", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the green can on the table, B.turn on the power strip by pressing the button, C.put the pineapple toy into the green pot, D.put the marker in the white cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001054.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green can on the table", "B.turn on the power strip by pressing the button", "C.put the pineapple toy into the green pot", "D.put the marker in the white cup" ] }, { "task_id": "0001055", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close a sliding window, B.pick up the green block from the desktop and put it into the black bowl, C.put the cup on the right side of the table, D.insert the tip of a large pipette into the holder for large pipette tips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001055.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.pick up the green block from the desktop and put it into the black bowl", "C.put the cup on the right side of the table", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001056", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0015_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the garbage in the trash can, B.put the black bowl on the windowsill and the green ball on the nightstand, C.pick up the green cup from the table and pour its contents into the grey plate, D.put the block on the adapter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001056.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.put the black bowl on the windowsill and the green ball on the nightstand", "C.pick up the green cup from the table and pour its contents into the grey plate", "D.put the block on the adapter" ] }, { "task_id": "0001057", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0014_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the jar from the desk and put it into the sink, B.pull out a napkin, C.hang the clothes on the hanger, D.put the orange object into the coffee cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001057.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the jar from the desk and put it into the sink", "B.pull out a napkin", "C.hang the clothes on the hanger", "D.put the orange object into the coffee cup" ] }, { "task_id": "0001058", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the lid from the silver pot and place it on the table. take the banana toy and put it in the silver pot, B.push the block backward, C.remove the lid from the pot and put it on the right side of the table, D.moving the disc from the right side of the tabletop to the left side of the tabletop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001058.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid from the silver pot and place it on the table. take the banana toy and put it in the silver pot", "B.push the block backward", "C.remove the lid from the pot and put it on the right side of the table", "D.moving the disc from the right side of the tabletop to the left side of the tabletop" ] }, { "task_id": "0001059", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the basket under the table, B.unfold the leg of the glasses (with one hand), C.remove the marker from the bowl and place it on the table, D.pick up a bag of things] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001059.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the basket under the table", "B.unfold the leg of the glasses (with one hand)", "C.remove the marker from the bowl and place it on the table", "D.pick up a bag of things" ] }, { "task_id": "0001060", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the desk lamp button, B.take the toothbrush from the cup and put it on the counter, C.place the handset of the telephone on the corresponding phone cradle, D.use a white towel to wipe the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001060.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the desk lamp button", "B.take the toothbrush from the cup and put it on the counter", "C.place the handset of the telephone on the corresponding phone cradle", "D.use a white towel to wipe the countertop" ] }, { "task_id": "0001062", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push and close the drawer, B.move the heater to the position behind the ground, C.put the cup next to the paper cup, D.transfer the black items from the bowl to the plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001062.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.move the heater to the position behind the ground", "C.put the cup next to the paper cup", "D.transfer the black items from the bowl to the plate" ] }, { "task_id": "0001063", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the towel to wipe the counter, B.open the faucet, C.move the water bottle to the right then take the silver lid from the glass bowl and place it on the table, D.put the cup on the cup rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001063.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the counter", "B.open the faucet", "C.move the water bottle to the right then take the silver lid from the glass bowl and place it on the table", "D.put the cup on the cup rack" ] }, { "task_id": "0001064", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the microwave, B.insert the pencil into the pencil sharpener, C.turn the hands of a clock, D.put the white book in the wooden bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001064.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the microwave", "B.insert the pencil into the pencil sharpener", "C.turn the hands of a clock", "D.put the white book in the wooden bowl" ] }, { "task_id": "0001065", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the flowerpot to the bottom left of the table, B.close a sliding window, C.pressing the piano keys, D.move the mug to the bottom shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001065.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the flowerpot to the bottom left of the table", "B.close a sliding window", "C.pressing the piano keys", "D.move the mug to the bottom shelf" ] }, { "task_id": "0001066", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bottle to the right side of the book, B.move an object from one box to another, C.put the purple block on the block pile, D.open the lid of the box, and then move the packaging bag into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001066.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle to the right side of the book", "B.move an object from one box to another", "C.put the purple block on the block pile", "D.open the lid of the box, and then move the packaging bag into the box" ] }, { "task_id": "0001067", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.wiping the countertop with a towel on the surface, B.pick up the block, C.press the button from top to bottom, D.push an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001067.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the countertop with a towel on the surface", "B.pick up the block", "C.press the button from top to bottom", "D.push an object with obstacles" ] }, { "task_id": "0001068", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the colourless bowl, B.push an object with obstacles, C.take the object from the bucket to the frame, D.put the marker inside the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001068.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the colourless bowl", "B.push an object with obstacles", "C.take the object from the bucket to the frame", "D.put the marker inside the pot" ] }, { "task_id": "0001069", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.play the drum, B.remove the object from the scale, C.put the green cube in the black bowl, D.open the lid of the white bin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001069.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.remove the object from the scale", "C.put the green cube in the black bowl", "D.open the lid of the white bin" ] }, { "task_id": "0001070", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.clean the table with a cloth, B.put the marker inside the transparent box, C.close the open door, D.pour the contents in the cup into the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001070.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.put the marker inside the transparent box", "C.close the open door", "D.pour the contents in the cup into the mug" ] }, { "task_id": "0001071", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the item from the plastic bag to the table, B.put the block on the block, C.push the soccer ball into the goal, D.plug in the bulb holder with a bulb to the socket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001071.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the item from the plastic bag to the table", "B.put the block on the block", "C.push the soccer ball into the goal", "D.plug in the bulb holder with a bulb to the socket" ] }, { "task_id": "0001072", "task": "TrajChoice", "id": "RH20T_cfg6_task_0209_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the block on the scale, B.turn on the light, C.slice the carrots, D.remove the gray toy out of the bowl and throw it to the top of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001072.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.turn on the light", "C.slice the carrots", "D.remove the gray toy out of the bowl and throw it to the top of the cabinet" ] }, { "task_id": "0001073", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the red marker out of the thermos, B.put the cup on the cup rack, C.move the doll to the left desk, D.turn the microwave switch] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001073.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the red marker out of the thermos", "B.put the cup on the cup rack", "C.move the doll to the left desk", "D.turn the microwave switch" ] }, { "task_id": "0001074", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the microwave, B.pick up the lid from the pot and put it on the counter, C.swat with a flyswatter at the black dots on the cardboard, D.move the object onto the object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001074.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave", "B.pick up the lid from the pot and put it on the counter", "C.swat with a flyswatter at the black dots on the cardboard", "D.move the object onto the object" ] }, { "task_id": "0001075", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grasp a block to sweep another block onto the mark, B.put the photo frame on the bracket, C.put the bottle in the container, D.take the lemon out of the bowl and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001075.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a block to sweep another block onto the mark", "B.put the photo frame on the bracket", "C.put the bottle in the container", "D.take the lemon out of the bowl and put it on the table" ] }, { "task_id": "0001076", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the power strip button, B.move the aluminum can to the table, C.put the brush on the stove, D.close the bottom drawer of the light green cabinet] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001076.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the power strip button", "B.move the aluminum can to the table", "C.put the brush on the stove", "D.close the bottom drawer of the light green cabinet" ] }, { "task_id": "0001077", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wipe the table with the napkin, B.plug in the power cord to the socket, C.rotate the blue flag on the table, D.screw on the lid (requires rotation)] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001077.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with the napkin", "B.plug in the power cord to the socket", "C.rotate the blue flag on the table", "D.screw on the lid (requires rotation)" ] }, { "task_id": "0001078", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.overlap the two identical black objects, B.turn on the water tap, C.remove the contents from the white plastic bag and put them on the table one at a time, D.move an object from one box to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001078.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.overlap the two identical black objects", "B.turn on the water tap", "C.remove the contents from the white plastic bag and put them on the table one at a time", "D.move an object from one box to another" ] }, { "task_id": "0001079", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the block backward, B.pour the object in the bowl into the sink, C.flip over and spread out the paper that is laid flat on the table, D.close the top drawer of the file cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001079.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the block backward", "B.pour the object in the bowl into the sink", "C.flip over and spread out the paper that is laid flat on the table", "D.close the top drawer of the file cabinet" ] }, { "task_id": "0001080", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn the tap nozzle to the left, B.take the can out of the sink, C.take the snack out of the sink on the left and put it on the left side of the countertop, D.drag the plate to the goal post after holding it down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001080.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the tap nozzle to the left", "B.take the can out of the sink", "C.take the snack out of the sink on the left and put it on the left side of the countertop", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0001081", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take something out of a drawer, B.put the bottle into the box, C.put the cup on the cup rack, D.close a sliding window], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001081.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.put the bottle into the box", "C.put the cup on the cup rack", "D.close a sliding window" ] }, { "task_id": "0001084", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0016_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the left knob to the left, B.folding a green towel on the table, C.slide the plate on the table, D.uncover the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001084.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the left knob to the left", "B.folding a green towel on the table", "C.slide the plate on the table", "D.uncover the pot" ] }, { "task_id": "0001085", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.screw the lid onto the jar (needs to be rotated), B.remove the grey cloth from the backrest of the chair and put it on the brown sofa, C.put the sweatshirt on the seat of the chair, D.put the cup in the other cup and put the pen in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001085.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar (needs to be rotated)", "B.remove the grey cloth from the backrest of the chair and put it on the brown sofa", "C.put the sweatshirt on the seat of the chair", "D.put the cup in the other cup and put the pen in the cup" ] }, { "task_id": "0001086", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the object from the tabletop to the shelf, B.press a button horizontally, C.put the marker in the cup, D.cut the cucumber into segments] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001086.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object from the tabletop to the shelf", "B.press a button horizontally", "C.put the marker in the cup", "D.cut the cucumber into segments" ] }, { "task_id": "0001087", "task": "TrajChoice", "id": "RH20T_cfg1_task_0109_user_0015_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.insert the pencil into the pencil sharpener, B.put the orange cup in the black bowl, C.stacking blocks (small Lego) one on top of the other every time, D.transfer the plate from the table to the plate], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001087.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.put the orange cup in the black bowl", "C.stacking blocks (small Lego) one on top of the other every time", "D.transfer the plate from the table to the plate" ] }, { "task_id": "0001088", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the yellow block in the cup, B.place the handset of the telephone on the corresponding phone cradle, C.clean the table with an orange cloth, D.moving the sphere], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001088.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the cup", "B.place the handset of the telephone on the corresponding phone cradle", "C.clean the table with an orange cloth", "D.moving the sphere" ] }, { "task_id": "0001089", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the book on the top of the shelf, B.take the pencil out from the pencil sharpener, C.press the hand sanitizer on the right side of the sink, D.remove the white cloth from the wooden board] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001089.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the top of the shelf", "B.take the pencil out from the pencil sharpener", "C.press the hand sanitizer on the right side of the sink", "D.remove the white cloth from the wooden board" ] }, { "task_id": "0001090", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the blue lego on the table then put the green lego on the yellow lego, B.spread the book on the table, C.pick up the cutting board and put it inside the top drawer, D.place the block on the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001090.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue lego on the table then put the green lego on the yellow lego", "B.spread the book on the table", "C.pick up the cutting board and put it inside the top drawer", "D.place the block on the scale" ] }, { "task_id": "0001091", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the orange Hanoi block off the shelf and place it on the table, B.put the photo frame on the bracket, C.slide the outer casing onto the gift box, D.remove the objects from the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001091.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the orange Hanoi block off the shelf and place it on the table", "B.put the photo frame on the bracket", "C.slide the outer casing onto the gift box", "D.remove the objects from the bowl" ] }, { "task_id": "0001092", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the knife rack, B.put the carrot plush on the pan, C.put the blue marker inside the yellow mug, D.turn on the bread machine switch], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001092.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.put the carrot plush on the pan", "C.put the blue marker inside the yellow mug", "D.turn on the bread machine switch" ] }, { "task_id": "0001093", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the knob clockwise, B.put the spoon in the water ladle, C.rotate the plate on the topmost shelf of the cabinet, D.put the marker into the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001093.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob clockwise", "B.put the spoon in the water ladle", "C.rotate the plate on the topmost shelf of the cabinet", "D.put the marker into the mug" ] }, { "task_id": "0001094", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block in the spoon, then place it in the cup, B.move the hat to the right side of the window sill, C.pick up the bottle from the window and put it on the drawer, D.put the garbage in the trash can] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001094.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block in the spoon, then place it in the cup", "B.move the hat to the right side of the window sill", "C.pick up the bottle from the window and put it on the drawer", "D.put the garbage in the trash can" ] }, { "task_id": "0001095", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the bottom left cupboard door, B.put the object into the cup, C.put the peach plushie on the top of the shelf, D.swat with a flyswatter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001095.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom left cupboard door", "B.put the object into the cup", "C.put the peach plushie on the top of the shelf", "D.swat with a flyswatter" ] }, { "task_id": "0001096", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the glue stick out of the box and place the glue stick to the left side of the box, B.shake the hat on the table, C.uncover the pot, D.taking out the light bulb by rotating it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001096.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the glue stick out of the box and place the glue stick to the left side of the box", "B.shake the hat on the table", "C.uncover the pot", "D.taking out the light bulb by rotating it" ] }, { "task_id": "0001098", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick the cloth and wipe the pan with it, B.press the button of the coffee machine, C.slide the outer casing onto the gift box, D.move the cup from the surface to outside the surface] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001098.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the cloth and wipe the pan with it", "B.press the button of the coffee machine", "C.slide the outer casing onto the gift box", "D.move the cup from the surface to outside the surface" ] }, { "task_id": "0001099", "task": "TrajChoice", "id": "RH20T_cfg7_task_0046_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove an egg from the box and place it on the countertop, B.unfold the towel on the table, C.move the green bottle from the right side of the transparent bottle to the left side, D.put the cup on the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001099.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove an egg from the box and place it on the countertop", "B.unfold the towel on the table", "C.move the green bottle from the right side of the transparent bottle to the left side", "D.put the cup on the cup rack" ] }, { "task_id": "0001100", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.play jenga, B.take the silver lid off the taller silver pot and put it on the right side of the pot, C.move the plates out of the cabinet, D.put the block on the block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001100.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.take the silver lid off the taller silver pot and put it on the right side of the pot", "C.move the plates out of the cabinet", "D.put the block on the block" ] }, { "task_id": "0001101", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.transfer the straw from the cup to the table, B.remove the bubble ring from the assembled bubble ring and ball, C.open a sliding window, D.put the marker in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001101.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the straw from the cup to the table", "B.remove the bubble ring from the assembled bubble ring and ball", "C.open a sliding window", "D.put the marker in the cup" ] }, { "task_id": "0001102", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the coat hanger on the knob of the cupboard, B.close the drawer at the left of the oven, C.pick up the small block on the left and move it to the right, D.transfer the large pipette from the table to the holder for large pipette tips] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001102.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the coat hanger on the knob of the cupboard", "B.close the drawer at the left of the oven", "C.pick up the small block on the left and move it to the right", "D.transfer the large pipette from the table to the holder for large pipette tips" ] }, { "task_id": "0001103", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pull the plate downwards, B.remove the black t-shirt from the backrest of the grey chair and place it on the table, C.move the spoon, D.pick up the pen and put it in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001103.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the plate downwards", "B.remove the black t-shirt from the backrest of the grey chair and place it on the table", "C.move the spoon", "D.pick up the pen and put it in the cup" ] }, { "task_id": "0001104", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.unfold a piece of paper that is folded once (one end is pressed down by a weight), B.move the lint roller away from you, C.unstack the bowls on the table, D.open the left door of the cabinet on the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001104.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that is folded once (one end is pressed down by a weight)", "B.move the lint roller away from you", "C.unstack the bowls on the table", "D.open the left door of the cabinet on the right" ] }, { "task_id": "0001106", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.adjust the volume of the speaker by rotating the knob, B.turn on the power strip by pressing the button, C.pick up the small block on the left and move it to the right, D.remove the bubble ring from the assembled bubble ring and ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001106.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.adjust the volume of the speaker by rotating the knob", "B.turn on the power strip by pressing the button", "C.pick up the small block on the left and move it to the right", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0001107", "task": "TrajChoice", "id": "RH20T_cfg6_task_0086_user_0007_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the white towel from the black stand, B.dial a number on an old rotary phone, C.finish setting up the starting position of the chessboard that is almost arranged, D.swat with a flyswatter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001107.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white towel from the black stand", "B.dial a number on an old rotary phone", "C.finish setting up the starting position of the chessboard that is almost arranged", "D.swat with a flyswatter" ] }, { "task_id": "0001108", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the blue object from the front area of the tabletop to the top cabinet, first shelf from the bottom, and put it down, B.put the marker on the white paper, C.approach and touch the side of the small block, D.pick the silver object on the table and put it in the blue cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001108.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue object from the front area of the tabletop to the top cabinet, first shelf from the bottom, and put it down", "B.put the marker on the white paper", "C.approach and touch the side of the small block", "D.pick the silver object on the table and put it in the blue cup" ] }, { "task_id": "0001109", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.hit the pool ball, B.remove the pen from the white cup and put it on the table, C.throw the object onto the bag, D.put the green block in the food pack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001109.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the pen from the white cup and put it on the table", "C.throw the object onto the bag", "D.put the green block in the food pack" ] }, { "task_id": "0001110", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the hanger to the table, B.pick up and place an object with obstacles, C.put the clothes on the box, D.put the object in the black bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001110.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the hanger to the table", "B.pick up and place an object with obstacles", "C.put the clothes on the box", "D.put the object in the black bowl" ] }, { "task_id": "0001111", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the two bottles from the counter and place them into the box, B.close the sliding window, C.pick up the screwdriver from the wooden tray and put it on the table, D.put the spoon on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001111.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the two bottles from the counter and place them into the box", "B.close the sliding window", "C.pick up the screwdriver from the wooden tray and put it on the table", "D.put the spoon on the table" ] }, { "task_id": "0001112", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the yellow ball in the black tray, B.put the marker in the mug, C.take the marker out of the bowl and put it on the table, D.pick up and place an object with obstacles] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001112.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow ball in the black tray", "B.put the marker in the mug", "C.take the marker out of the bowl and put it on the table", "D.pick up and place an object with obstacles" ] }, { "task_id": "0001113", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the contents of the cup into the pot, B.move the green cylindrical block to the left, C.place the left blue towel onto the kitchen counter, D.pull out a napkin] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001113.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the cup into the pot", "B.move the green cylindrical block to the left", "C.place the left blue towel onto the kitchen counter", "D.pull out a napkin" ] }, { "task_id": "0001114", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button horizontally, B.pick up the plastic cup and put it on top of the white box on the right, C.put the white plate on the dish rack, D.pick up the egg from the table and place it in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001114.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.pick up the plastic cup and put it on top of the white box on the right", "C.put the white plate on the dish rack", "D.pick up the egg from the table and place it in the bowl" ] }, { "task_id": "0001115", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use the white napkin to wipe the tabletop, B.hang the bag on the left side of the stand, C.turn off the water tap, D.pick up the light-colored green object on the table, move it to the left side of the desktop, then put it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001115.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the white napkin to wipe the tabletop", "B.hang the bag on the left side of the stand", "C.turn off the water tap", "D.pick up the light-colored green object on the table, move it to the left side of the desktop, then put it down" ] }, { "task_id": "0001116", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the marker in the cup, B.put the white napkin on the table, C.place the handset of the telephone on the corresponding phone cradle, D.move the box down, put the item in the transparent box, and then close the lid of the transparent box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001116.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.put the white napkin on the table", "C.place the handset of the telephone on the corresponding phone cradle", "D.move the box down, put the item in the transparent box, and then close the lid of the transparent box" ] }, { "task_id": "0001117", "task": "TrajChoice", "id": "RH20T_cfg7_task_0052_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker into the cup, B.take the can out of the sink, C.finish setting up the starting position of a chessboard that is almost arranged, D.grab a basketball, release it and shoot it into the basket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001117.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the cup", "B.take the can out of the sink", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0001118", "task": "TrajChoice", "id": "RH20T_cfg5_task_0039_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the beverage can on the countertop, B.pour the water from one cup into another empty cup, C.put the pot in the oven, D.pick up the bottle from the table and put it inside the clear container], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001118.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the beverage can on the countertop", "B.pour the water from one cup into another empty cup", "C.put the pot in the oven", "D.pick up the bottle from the table and put it inside the clear container" ] }, { "task_id": "0001119", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.turn off the water tap, C.move the mug to the right, D.open the lid] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001119.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.turn off the water tap", "C.move the mug to the right", "D.open the lid" ] }, { "task_id": "0001120", "task": "TrajChoice", "id": "RH20T_cfg1_task_0200_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.slide the white bowl to the right, B.put the toy into the bowl, C.grab a white object on the table, D.Insert the tip of a large pipette into the holder for large pipette tips], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001120.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the white bowl to the right", "B.put the toy into the bowl", "C.grab a white object on the table", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001121", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.grasp the moving object, B.grab the block from the desktop box tray, move it to the center area of the desktop, place it in the center area of the desktop, C.put the orange spoon in the black mug, D.insert the pencil into the pencil sharpener] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001121.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the moving object", "B.grab the block from the desktop box tray, move it to the center area of the desktop, place it in the center area of the desktop", "C.put the orange spoon in the black mug", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0001122", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull out a napkin, B.press the button from top to bottom, C.put the black cable into the box, D.rotate the faucet clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001122.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.press the button from top to bottom", "C.put the black cable into the box", "D.rotate the faucet clockwise" ] }, { "task_id": "0001123", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.plug in the bulb holder to the socket, B.move the black cloth from the top of the chair to the table, C.move the mug nearer to the sharpie, D.put the box in a horizontal position] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001123.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.move the black cloth from the top of the chair to the table", "C.move the mug nearer to the sharpie", "D.put the box in a horizontal position" ] }, { "task_id": "0001124", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the black screwdriver inside the open drawer then close the drawer, B.unfold the leg of the glasses (with one hand), C.pick up a white plate from the right side of the countertop and place it inside the dishwasher on the right, D.put the object with the corresponding shape into the corresponding hole] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001124.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black screwdriver inside the open drawer then close the drawer", "B.unfold the leg of the glasses (with one hand)", "C.pick up a white plate from the right side of the countertop and place it inside the dishwasher on the right", "D.put the object with the corresponding shape into the corresponding hole" ] }, { "task_id": "0001125", "task": "TrajChoice", "id": "RH20T_cfg3_task_0091_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.hang the black bag on the far right, B.move an object from one box to another, C.move the lid to the salt cellar, D.put the red object and the green block in the pan], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001125.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the black bag on the far right", "B.move an object from one box to another", "C.move the lid to the salt cellar", "D.put the red object and the green block in the pan" ] }, { "task_id": "0001126", "task": "TrajChoice", "id": "RH20T_cfg3_task_0091_user_0010_scene_0008_cfg_0003_104122062823#297", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the toy from the bowl to the table, B.move an object from one box to another, C.use a sponge to wipe the red bowl, D.put the green stick on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001126.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the toy from the bowl to the table", "B.move an object from one box to another", "C.use a sponge to wipe the red bowl", "D.put the green stick on the table" ] }, { "task_id": "0001127", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the left drawer, B.slide the plate into the goal, C.remove the crumpled napkin from the bowl on the right, D.take the lid off of the pot and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001127.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the left drawer", "B.slide the plate into the goal", "C.remove the crumpled napkin from the bowl on the right", "D.take the lid off of the pot and put it on the table" ] }, { "task_id": "0001128", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.play the first move as black on the 3-4 point in the upper right corner of the Go board, B.remove the object from the scale, C.use the gripper to push the small block from left to right, D.pick up the blue cup from the dish rack and put it in the sink], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001128.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the first move as black on the 3-4 point in the upper right corner of the Go board", "B.remove the object from the scale", "C.use the gripper to push the small block from left to right", "D.pick up the blue cup from the dish rack and put it in the sink" ] }, { "task_id": "0001129", "task": "TrajChoice", "id": "RH20T_cfg6_task_0085_user_0007_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toilet paper on its holder, B.pick up the orange object and put it in the black bowl, C.put the object on the object, D.remove the bubble ring from the assembled bubble ring and ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001129.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.pick up the orange object and put it in the black bowl", "C.put the object on the object", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0001130", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take something out of a drawer, B.wave the flag, C.put the marker in the bowl, D.place the black chess piece on the chessboard] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001130.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.wave the flag", "C.put the marker in the bowl", "D.place the black chess piece on the chessboard" ] }, { "task_id": "0001131", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.lift up the toaster lever, B.put the black object into the cup, C.rotate the steering wheel counterclockwise, D.move the white paper from the right side of the table to the middle area in front of the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001131.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lift up the toaster lever", "B.put the black object into the cup", "C.rotate the steering wheel counterclockwise", "D.move the white paper from the right side of the table to the middle area in front of the drawer" ] }, { "task_id": "0001132", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the lying book on the top of the standing books, B.move the wooden block from the table and place it near the white cabinet, C.separate the three stacked cups and place them on the table, D.put the cup on the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001132.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lying book on the top of the standing books", "B.move the wooden block from the table and place it near the white cabinet", "C.separate the three stacked cups and place them on the table", "D.put the cup on the countertop" ] }, { "task_id": "0001133", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the object to the right side of the table, B.pick up the light coloured cloth from the chair and put it in the container, C.turn on the desk lamp by pressing the button, D.fold the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001133.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object to the right side of the table", "B.pick up the light coloured cloth from the chair and put it in the container", "C.turn on the desk lamp by pressing the button", "D.fold the towel" ] }, { "task_id": "0001135", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the tissue on the tissue roll holder, B.put the key into the bowl, C.turn off the light, D.remove the object from the scale, put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001135.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tissue on the tissue roll holder", "B.put the key into the bowl", "C.turn off the light", "D.remove the object from the scale, put it on the table" ] }, { "task_id": "0001136", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the lid on the pot, B.remove the marker from the mug and place it on the table, C.rotate the steering wheel 90 degrees clockwise, D.move the toaster bottle to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001136.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.remove the marker from the mug and place it on the table", "C.rotate the steering wheel 90 degrees clockwise", "D.move the toaster bottle to the right" ] }, { "task_id": "0001137", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button to open the coffee maker, B.put two bottles in the plastic bag, C.hit the pool ball, D.put the screwdriver in the open drawer and then close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001137.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button to open the coffee maker", "B.put two bottles in the plastic bag", "C.hit the pool ball", "D.put the screwdriver in the open drawer and then close the drawer" ] }, { "task_id": "0001138", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the clothes on the box and then take them to the table, B.put the green cube inside the black bowl, C.moving the disc from the right side of the tabletop to the left side of the tabletop, D.pick up a tissue and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001138.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothes on the box and then take them to the table", "B.put the green cube inside the black bowl", "C.moving the disc from the right side of the tabletop to the left side of the tabletop", "D.pick up a tissue and place it on the table" ] }, { "task_id": "0001139", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the lid on the pot, B.unfold the leg of the glasses (with one hand), C.pick up the white cloth and put it on the table, D.put the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001139.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.unfold the leg of the glasses (with one hand)", "C.pick up the white cloth and put it on the table", "D.put the lid on the pot" ] }, { "task_id": "0001140", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grab a basketball, release it and shoot it into the basket, B.remove the packet from the sink, C.move the blue cup from the table to the yellow bowl, and then put it down, D.move the bucket to the designated position] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001140.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, release it and shoot it into the basket", "B.remove the packet from the sink", "C.move the blue cup from the table to the yellow bowl, and then put it down", "D.move the bucket to the designated position" ] }, { "task_id": "0001141", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the colourless basket backwards, B.pick up the cup on the left from the desktop, and then pour the contents of the cup onto the desktop, C.place the pieces on the chessboard, D.place the block at the cardboard circle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001141.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the colourless basket backwards", "B.pick up the cup on the left from the desktop, and then pour the contents of the cup onto the desktop", "C.place the pieces on the chessboard", "D.place the block at the cardboard circle" ] }, { "task_id": "0001142", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.drag the white bowl to the table outside the goal, B.flip the switch, C.close the bottom drawer of the beige file cabinet, D.remove the marker from the mug and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001142.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the white bowl to the table outside the goal", "B.flip the switch", "C.close the bottom drawer of the beige file cabinet", "D.remove the marker from the mug and put it on the table" ] }, { "task_id": "0001143", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a small block, B.move the plate to the dish rack, C.take the snack pack out of the sink, D.take something out of a drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001143.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.move the plate to the dish rack", "C.take the snack pack out of the sink", "D.take something out of a drawer" ] }, { "task_id": "0001144", "task": "TrajChoice", "id": "RH20T_cfg6_task_0001_user_0020_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.separate the silver pots, B.remove the cup from the top of the microwave and place it on the table, C.press the button from top to bottom, D.take the roll of paper down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001144.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.separate the silver pots", "B.remove the cup from the top of the microwave and place it on the table", "C.press the button from top to bottom", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0001145", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open a box, B.put the ball into the bowl, C.put the blue object on the left side of the sink, D.take the cup on the table to the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001145.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.put the ball into the bowl", "C.put the blue object on the left side of the sink", "D.take the cup on the table to the right side of the table" ] }, { "task_id": "0001146", "task": "TrajChoice", "id": "RH20T_cfg6_task_0049_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.rotate the steering wheel 90 degrees counterclockwise, B.transfer the toy from the table to the storage bag, C.pick the orange plush toy from the plate and place it in the box, D.move the marker to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001146.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees counterclockwise", "B.transfer the toy from the table to the storage bag", "C.pick the orange plush toy from the plate and place it in the box", "D.move the marker to the right" ] }, { "task_id": "0001147", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.transfer the object from the circular tabletop to the object, B.take the marker out of the bowl and put it on the table, C.insert the tip of a large pipette into the holder for large pipette tips, D.pick up the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001147.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the circular tabletop to the object", "B.take the marker out of the bowl and put it on the table", "C.insert the tip of a large pipette into the holder for large pipette tips", "D.pick up the cup" ] }, { "task_id": "0001148", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0004_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.rotate the lid, B.stack the orange block on top of the blue block, C.fold the towel, D.open the second drawer from the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001148.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the lid", "B.stack the orange block on top of the blue block", "C.fold the towel", "D.open the second drawer from the left" ] }, { "task_id": "0001149", "task": "TrajChoice", "id": "RH20T_cfg3_task_0060_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the knob to decrease the volume of the speaker, B.close the door of the kitchen top cabinet, C.pick up the towel from the plate and wipe the table, D.move the fork from the plate to the towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001149.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.close the door of the kitchen top cabinet", "C.pick up the towel from the plate and wipe the table", "D.move the fork from the plate to the towel" ] }, { "task_id": "0001150", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the bowl into the microwave, B.draw a circle on the whiteboard with the marker in the bowl, C.close the book, D.move the white toy from the left side of the table to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001150.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl into the microwave", "B.draw a circle on the whiteboard with the marker in the bowl", "C.close the book", "D.move the white toy from the left side of the table to the right side of the table" ] }, { "task_id": "0001151", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0009_cfg_0005_104122063678#980", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.wipe the table on the left with a towel, B.place the green block on the table, C.put the green plush toy in the blue box, D.put the bowl into the microwave], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001151.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table on the left with a towel", "B.place the green block on the table", "C.put the green plush toy in the blue box", "D.put the bowl into the microwave" ] }, { "task_id": "0001152", "task": "TrajChoice", "id": "RH20T_cfg3_task_0043_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the tap handle up, B.remove the marker from the cup and put it on the table, C.unfold the towel, D.unscrew the lid from the jar], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001152.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tap handle up", "B.remove the marker from the cup and put it on the table", "C.unfold the towel", "D.unscrew the lid from the jar" ] }, { "task_id": "0001153", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the cup is placed upright on the table, B.grasp the moving object, C.move the hat from the cabinet to in front of the picture frame, D.take the roll of paper down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001153.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the cup is placed upright on the table", "B.grasp the moving object", "C.move the hat from the cabinet to in front of the picture frame", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0001154", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the black masking tape on the white plate, B.plug in the plug to the socket, C.place the pen holder on the table next to the tablet, D.press the key on the keyboard], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001154.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black masking tape on the white plate", "B.plug in the plug to the socket", "C.place the pen holder on the table next to the tablet", "D.press the key on the keyboard" ] }, { "task_id": "0001155", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the plate on the bowl rack, B.wipe the countertop with the black cloth, C.remove the pen from the mug and put it on the table, and then move the mug to the right, D.pull up the switch on the wall], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001155.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the bowl rack", "B.wipe the countertop with the black cloth", "C.remove the pen from the mug and put it on the table, and then move the mug to the right", "D.pull up the switch on the wall" ] }, { "task_id": "0001156", "task": "TrajChoice", "id": "RH20T_cfg5_task_0080_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.flip over and spread out the paper that is laid flat on the table, B.put the fabric on the left side of the sofa, C.wipe the surface of the stove with a paper towel, D.pick up the spoon and put it in the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001156.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over and spread out the paper that is laid flat on the table", "B.put the fabric on the left side of the sofa", "C.wipe the surface of the stove with a paper towel", "D.pick up the spoon and put it in the cup" ] }, { "task_id": "0001157", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the marker and put it in the bowl, B.turn the tap nozzle to the right, C.take the cup off the cup rack and put it on the table, D.uncover the pot and put the lid on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001157.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the bowl", "B.turn the tap nozzle to the right", "C.take the cup off the cup rack and put it on the table", "D.uncover the pot and put the lid on the counter" ] }, { "task_id": "0001158", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.hang the cloth on the wooden stand, B.play the drum, C.put the marker in the mug, D.turn on the third switch from the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001158.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the cloth on the wooden stand", "B.play the drum", "C.put the marker in the mug", "D.turn on the third switch from the right" ] }, { "task_id": "0001159", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.hit the pool ball, B.put the clothes on the table, C.sliding the fabric on the table, D.press the red button on the white base on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001159.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.put the clothes on the table", "C.sliding the fabric on the table", "D.press the red button on the white base on the table" ] }, { "task_id": "0001160", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the cabinet door, B.plug in the plug to the socket, C.move the small white bottle from the basket to the shelf, D.cover the pot with the lid] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001160.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cabinet door", "B.plug in the plug to the socket", "C.move the small white bottle from the basket to the shelf", "D.cover the pot with the lid" ] }, { "task_id": "0001161", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the first knob on the left side of the stove, B.grasping a block and placing it onto the marked area on the board, C.push down the lever, D.pull the glass door open], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001161.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the first knob on the left side of the stove", "B.grasping a block and placing it onto the marked area on the board", "C.push down the lever", "D.pull the glass door open" ] }, { "task_id": "0001162", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the small square from the scale onto the table, B.put the cup on the plate, C.transfer the object from the cup to the table, D.swap the clothes on the chair with the clothes on the chair's back], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001162.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small square from the scale onto the table", "B.put the cup on the plate", "C.transfer the object from the cup to the table", "D.swap the clothes on the chair with the clothes on the chair's back" ] }, { "task_id": "0001163", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the cup from the table to the plate, B.close the cabinet door, C.turn off the power strip by pressing the button, D.dragging the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001163.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup from the table to the plate", "B.close the cabinet door", "C.turn off the power strip by pressing the button", "D.dragging the plate" ] }, { "task_id": "0001164", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0014_scene_0003_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wave the flag, B.place the spoon on the left green cup, C.remove the spoon from the drawer, D.use the kitchen towel to wipe the kitchen counter top] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001164.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.place the spoon on the left green cup", "C.remove the spoon from the drawer", "D.use the kitchen towel to wipe the kitchen counter top" ] }, { "task_id": "0001165", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the peach cloth from the armrest of the chair to the backrest of the chair, B.put the marker in the cup, C.unfold the leg of the glasses (with one hand), D.put the black toothpick box from the microwave onto the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001165.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the peach cloth from the armrest of the chair to the backrest of the chair", "B.put the marker in the cup", "C.unfold the leg of the glasses (with one hand)", "D.put the black toothpick box from the microwave onto the table" ] }, { "task_id": "0001166", "task": "TrajChoice", "id": "RH20T_cfg2_task_0062_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.move the ball from the table to the bowl, C.push the soccer ball into the goal, D.pick up the bottle from the table and put it in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001166.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.move the ball from the table to the bowl", "C.push the soccer ball into the goal", "D.pick up the bottle from the table and put it in the bowl" ] }, { "task_id": "0001167", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the computer, B.rotate the steering wheel 90 degrees counterclockwise, C.put the brown doll in the silver pot, D.press the black rod on the wall], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001167.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the computer", "B.rotate the steering wheel 90 degrees counterclockwise", "C.put the brown doll in the silver pot", "D.press the black rod on the wall" ] }, { "task_id": "0001168", "task": "TrajChoice", "id": "RH20T_cfg6_task_0105_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object on the shelf, B.put the marker in the bowl, C.put the cup on the cup, D.press the toaster] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001168.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the shelf", "B.put the marker in the bowl", "C.put the cup on the cup", "D.press the toaster" ] }, { "task_id": "0001169", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the power strip by pressing the button, B.dial a number on an old rotary phone, C.transfer the box from another box to the tabletop, D.get the sellotape near the black bin and place it near the black cable] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001169.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the button", "B.dial a number on an old rotary phone", "C.transfer the box from another box to the tabletop", "D.get the sellotape near the black bin and place it near the black cable" ] }, { "task_id": "0001170", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0020_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object into the bowl, B.putting coins into a piggy bank, C.throw the green book to the side of the sofa, D.put the drink in the box] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001170.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.putting coins into a piggy bank", "C.throw the green book to the side of the sofa", "D.put the drink in the box" ] }, { "task_id": "0001171", "task": "TrajChoice", "id": "RH20T_cfg6_task_0029_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the object and put it on the pillow, B.put the bowl on the pan, C.pick up the sponge from the countertop and move it to the inner side, D.grasp the handle and open the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001171.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the object and put it on the pillow", "B.put the bowl on the pan", "C.pick up the sponge from the countertop and move it to the inner side", "D.grasp the handle and open the drawer" ] }, { "task_id": "0001172", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the desk lamp by pressing the button, B.pressing the keys of the piano, C.close the cabinet door, D.move the bottle backwards], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001172.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.pressing the keys of the piano", "C.close the cabinet door", "D.move the bottle backwards" ] }, { "task_id": "0001173", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the towel to the right, B.pick the white lid from the counter and put it in the open cupboard, C.pick up the cup, D.unfold the gray cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001173.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel to the right", "B.pick the white lid from the counter and put it in the open cupboard", "C.pick up the cup", "D.unfold the gray cloth" ] }, { "task_id": "0001174", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the extension cable, B.put the marker in the mug, C.move the lid to the counter, D.grasp the handle and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001174.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the extension cable", "B.put the marker in the mug", "C.move the lid to the counter", "D.grasp the handle and close the drawer" ] }, { "task_id": "0001175", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bottle from the bag onto the table, B.remove the green marker from the table and put it in the bowl, C.pick up the cup, D.pick up the blue block, put it in the drawer and close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001175.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle from the bag onto the table", "B.remove the green marker from the table and put it in the bowl", "C.pick up the cup", "D.pick up the blue block, put it in the drawer and close the drawer" ] }, { "task_id": "0001176", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the fabric on the right side of the original position, B.put the object on the right side of the lunch box and place the packaging bag on the table, C.remove the marker from the mug and put it on the table, D.move an object from one box to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001176.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the fabric on the right side of the original position", "B.put the object on the right side of the lunch box and place the packaging bag on the table", "C.remove the marker from the mug and put it on the table", "D.move an object from one box to another" ] }, { "task_id": "0001177", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pour the items from the packaging bag into the cup, B.take the roll of paper down from the shelf, C.turn the knob to decrease the volume of the speaker, D.transfer the tissue from the tissue box to the washing machine], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001177.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items from the packaging bag into the cup", "B.take the roll of paper down from the shelf", "C.turn the knob to decrease the volume of the speaker", "D.transfer the tissue from the tissue box to the washing machine" ] }, { "task_id": "0001178", "task": "TrajChoice", "id": "RH20T_cfg6_task_0067_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the black basket to the left, B.put the black shirt on the table, C.slide the green towel up and down on the surface, D.press a button], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001178.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black basket to the left", "B.put the black shirt on the table", "C.slide the green towel up and down on the surface", "D.press a button" ] }, { "task_id": "0001179", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the spoon from the cup onto the table, B.place the yellow block inside the cup, C.approach and touch the side of the small block, D.open the tap] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001179.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon from the cup onto the table", "B.place the yellow block inside the cup", "C.approach and touch the side of the small block", "D.open the tap" ] }, { "task_id": "0001180", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the sweets together using the sponge brush, B.press a button horizontally, C.wipe the red plate with the white towel on the left, then place the towel back on the left side of the table, D.turn on the second switch from the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001180.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the sweets together using the sponge brush", "B.press a button horizontally", "C.wipe the red plate with the white towel on the left, then place the towel back on the left side of the table", "D.turn on the second switch from the right" ] }, { "task_id": "0001181", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0014_scene_0001_cfg_0001_035622060973#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the bottom drawer of the black and white file cabinet, B.hang the clothes on the top of the clothes rod, C.wave the flag, D.wipe the blackboard with a blackboard eraser] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001181.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the black and white file cabinet", "B.hang the clothes on the top of the clothes rod", "C.wave the flag", "D.wipe the blackboard with a blackboard eraser" ] }, { "task_id": "0001185", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.drag the plate to the goal post after holding it down, B.move the silver bowl to the right side of the desk, C.put the yellow block in the cup, D.place the box on the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001185.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.move the silver bowl to the right side of the desk", "C.put the yellow block in the cup", "D.place the box on the right side of the table" ] }, { "task_id": "0001186", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the soda can to the sink, B.move the brown cup to the right, C.put the bubble ring on the outside of the ball, D.put the bottle in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001186.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the soda can to the sink", "B.move the brown cup to the right", "C.put the bubble ring on the outside of the ball", "D.put the bottle in the cup" ] }, { "task_id": "0001187", "task": "TrajChoice", "id": "RH20T_cfg4_task_0034_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the light switch, B.uncover the pot and put the lid on the table, C.stack the squares into a pyramid shape, D.put the dish on the dish rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001187.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light switch", "B.uncover the pot and put the lid on the table", "C.stack the squares into a pyramid shape", "D.put the dish on the dish rack" ] }, { "task_id": "0001188", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the cup out of the microwave, B.unfold the cloth, C.Insert the tip of a small pipette into the holder for small pipette tips, D.close the sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001188.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup out of the microwave", "B.unfold the cloth", "C.Insert the tip of a small pipette into the holder for small pipette tips", "D.close the sliding window" ] }, { "task_id": "0001189", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the glass cup onto the shelf, B.take the blue marker out of the white bowl, C.put the orange marker inside the green mug, D.turn off the light] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001189.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass cup onto the shelf", "B.take the blue marker out of the white bowl", "C.put the orange marker inside the green mug", "D.turn off the light" ] }, { "task_id": "0001190", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the lid on the transparent box on the coffee machine, B.put on the bottle cap, C.move the white envelope to the right, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001190.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the transparent box on the coffee machine", "B.put on the bottle cap", "C.move the white envelope to the right", "D.remove the object from the scale" ] }, { "task_id": "0001191", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0020_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the garbage in the trash can, B.pick up the silver lid and place it on the black pot, C.put the green object in the drawer on the table, D.put the sponge in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001191.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.pick up the silver lid and place it on the black pot", "C.put the green object in the drawer on the table", "D.put the sponge in the bowl" ] }, { "task_id": "0001192", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.slide the can in the fridge from left to right, B.take the photo frame down from the bracket, C.pick up the cube furthest from all the other cubes and stack it on top of the already stacked cubes, D.move the white plate to the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001192.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the can in the fridge from left to right", "B.take the photo frame down from the bracket", "C.pick up the cube furthest from all the other cubes and stack it on top of the already stacked cubes", "D.move the white plate to the table" ] }, { "task_id": "0001193", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.clean the table with a cloth, B.slide the small block from the right side of the table to the left side, C.take the bottle on the tray and put it on the counter, D.put the pen in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001193.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.slide the small block from the right side of the table to the left side", "C.take the bottle on the tray and put it on the counter", "D.put the pen in the bowl" ] }, { "task_id": "0001194", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the knife on the cutting board, B.plug the plug into the socket, C.hit the pool ball, D.move the silver bottle to the right side of the table and turn off the faucet], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001194.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.plug the plug into the socket", "C.hit the pool ball", "D.move the silver bottle to the right side of the table and turn off the faucet" ] }, { "task_id": "0001195", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pressing the remote control button, B.move the cup to the outside of the sink, C.screw the lid onto the jar (needs to be twisted), D.sweeping a small block from right to left on the table with the gripper] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001195.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the remote control button", "B.move the cup to the outside of the sink", "C.screw the lid onto the jar (needs to be twisted)", "D.sweeping a small block from right to left on the table with the gripper" ] }, { "task_id": "0001196", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move an object from one box to another, B.put the block on the table, C.press the button from top to bottom, D.take the marker from the table and place it in a cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001196.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move an object from one box to another", "B.put the block on the table", "C.press the button from top to bottom", "D.take the marker from the table and place it in a cup" ] }, { "task_id": "0001197", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the plush toys in the white bowl into the blue container, B.screw the lid onto the jar, C.move the green mug forward, D.move the pillow from the bed and place it on the white pillow] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001197.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plush toys in the white bowl into the blue container", "B.screw the lid onto the jar", "C.move the green mug forward", "D.move the pillow from the bed and place it on the white pillow" ] }, { "task_id": "0001198", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.put the snacks in the sink, C.put the sauce bottle on the right inside the box, D.unfold the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001198.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the snacks in the sink", "C.put the sauce bottle on the right inside the box", "D.unfold the towel" ] }, { "task_id": "0001199", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the handset of the telephone on the corresponding phone cradle, B.take the orange tape out of the open drawer and place it on top of the green tape, C.turn on the light, D.push the white plate on the table to the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001199.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.take the orange tape out of the open drawer and place it on top of the green tape", "C.turn on the light", "D.push the white plate on the table to the left" ] }, { "task_id": "0001200", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the yellow block in the wooden box, B.take the coffee pod out of the coffee maker chamber, C.attach the bubble ring to the soccer ball, D.take the yellow object from the desktop and put it into the white bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001200.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the wooden box", "B.take the coffee pod out of the coffee maker chamber", "C.attach the bubble ring to the soccer ball", "D.take the yellow object from the desktop and put it into the white bowl" ] }, { "task_id": "0001201", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0015_scene_0005_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.screw the lid onto the jar (needs to be rotated), B.put the package in a bowl, C.move the mug to the left, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001201.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar (needs to be rotated)", "B.put the package in a bowl", "C.move the mug to the left", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0001202", "task": "TrajChoice", "id": "RH20T_cfg7_task_0053_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bottle in the pot, B.unravel the charger, C.pick the marker from the cup and put it on the table, D.move the clamp from the plate and place it into the yellow plate], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001202.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the pot", "B.unravel the charger", "C.pick the marker from the cup and put it on the table", "D.move the clamp from the plate and place it into the yellow plate" ] }, { "task_id": "0001204", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the bowl inside the container, B.place the block at the marked location, C.move the hat from the cabinet to in front of the picture frame, D.stacking blocks (small Lego) randomly one at a time], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001204.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl inside the container", "B.place the block at the marked location", "C.move the hat from the cabinet to in front of the picture frame", "D.stacking blocks (small Lego) randomly one at a time" ] }, { "task_id": "0001205", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the silver bowl to the edge of the desk, B.remove the object from the scale, C.pour the contents in the clear jug into the red bowl, D.pick the cable and put it in the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001205.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the silver bowl to the edge of the desk", "B.remove the object from the scale", "C.pour the contents in the clear jug into the red bowl", "D.pick the cable and put it in the box" ] }, { "task_id": "0001206", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the black sneaker from the top shelf of the shoe rack to the bottom shelf, B.press a button horizontally with obstacles, C.put the pen into the pen holder, D.push the faucet to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001206.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black sneaker from the top shelf of the shoe rack to the bottom shelf", "B.press a button horizontally with obstacles", "C.put the pen into the pen holder", "D.push the faucet to the left" ] }, { "task_id": "0001207", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0014_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn off the right light switch, B.take a piece of tissue from the tissue box and put it on the table, C.move the container to the back left side of the table, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001207.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the right light switch", "B.take a piece of tissue from the tissue box and put it on the table", "C.move the container to the back left side of the table", "D.press the button from top to bottom" ] }, { "task_id": "0001208", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the white cup forwards, B.close the microwave door, C.move the block from above the table to below the table, D.take the glue stick out of the cup and place it on the black box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001208.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cup forwards", "B.close the microwave door", "C.move the block from above the table to below the table", "D.take the glue stick out of the cup and place it on the black box" ] }, { "task_id": "0001209", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the green towel to the right side of the table, B.put the blue object in the blue cup, C.push the plate to the right, D.put the knife on the knife rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001209.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the green towel to the right side of the table", "B.put the blue object in the blue cup", "C.push the plate to the right", "D.put the knife on the knife rack" ] }, { "task_id": "0001210", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the leftmost object on the table in the upper half of the cardboard box, B.move the purple toothpaste to the right side of the countertop, C.put the toilet paper on its holder, D.move the towel from the armrest to the seat], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001210.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the leftmost object on the table in the upper half of the cardboard box", "B.move the purple toothpaste to the right side of the countertop", "C.put the toilet paper on its holder", "D.move the towel from the armrest to the seat" ] }, { "task_id": "0001211", "task": "TrajChoice", "id": "RH20T_cfg2_task_0094_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.rotate the lid on the bottle, B.use the green towel to wipe the table, C.turn the remote control over and place it on the table, D.open a box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001211.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the lid on the bottle", "B.use the green towel to wipe the table", "C.turn the remote control over and place it on the table", "D.open a box" ] }, { "task_id": "0001212", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the pen from the table and move it slightly to the left, B.transfer the white items from the transparent box to the white box, C.move the gray item from the plate to the box, D.open a sliding window], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001212.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the table and move it slightly to the left", "B.transfer the white items from the transparent box to the white box", "C.move the gray item from the plate to the box", "D.open a sliding window" ] }, { "task_id": "0001213", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.wiping the table with a towel, B.fold the green towel, C.press the button from top to bottom, D.put the black glasses into the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001213.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the table with a towel", "B.fold the green towel", "C.press the button from top to bottom", "D.put the black glasses into the plate" ] }, { "task_id": "0001214", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the cutting board, B.press the adapter switch, C.pick up the soldering pump and hang it on the hook of the soldering station, D.put the bottle into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001214.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.press the adapter switch", "C.pick up the soldering pump and hang it on the hook of the soldering station", "D.put the bottle into the bowl" ] }, { "task_id": "0001215", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stand the cushion up on the sofa, B.remove the marker from the cup and put it on the table, C.push the plate into the goal, D.grasp the handle and close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001215.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stand the cushion up on the sofa", "B.remove the marker from the cup and put it on the table", "C.push the plate into the goal", "D.grasp the handle and close the drawer" ] }, { "task_id": "0001216", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push down the switch of the toaster, B.pick up the piece of paper from the edge of the table and place it on the object, C.put the garbage in the trash can, D.pick up the green object from the table and put it in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001216.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the switch of the toaster", "B.pick up the piece of paper from the edge of the table and place it on the object", "C.put the garbage in the trash can", "D.pick up the green object from the table and put it in the bowl" ] }, { "task_id": "0001217", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0004_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pull out a napkin, B.stack the cups, C.folding the towel on the table, D.wiping the sink with a cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001217.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.stack the cups", "C.folding the towel on the table", "D.wiping the sink with a cloth" ] }, { "task_id": "0001218", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.flush the toilet, B.take the bowl out of the upper cabinet and put it on the counter then take the wooden spatula out of the cabinet, C.fold the towel from the right side to the left side, D.pull out a napkin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001218.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flush the toilet", "B.take the bowl out of the upper cabinet and put it on the counter then take the wooden spatula out of the cabinet", "C.fold the towel from the right side to the left side", "D.pull out a napkin" ] }, { "task_id": "0001220", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bubble ring from the assembled bubble ring and ball, B.place the toy on the left side of the table, C.put the object into the transparent container, D.put the silver lid on the bottle, then place the black pot with the opening facing up], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001220.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.place the toy on the left side of the table", "C.put the object into the transparent container", "D.put the silver lid on the bottle, then place the black pot with the opening facing up" ] }, { "task_id": "0001221", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the object into the cup, B.pour the contents in the red cup into the bowl, C.push the small block from right to left with the gripper, D.put the cup on the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001221.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the cup", "B.pour the contents in the red cup into the bowl", "C.push the small block from right to left with the gripper", "D.put the cup on the plate" ] }, { "task_id": "0001222", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the blue object from the counter and put it in the drawer and close the drawer, B.turn off the water tap, C.pick up the orange cup from the table and pour its contents into the bowl, D.cover a lid], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001222.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blue object from the counter and put it in the drawer and close the drawer", "B.turn off the water tap", "C.pick up the orange cup from the table and pour its contents into the bowl", "D.cover a lid" ] }, { "task_id": "0001223", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the lid on the pot, B.press the button on the wall horizontally, C.insert the pencil into the pencil sharpener, D.plug in the power cord to the socket], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001223.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.press the button on the wall horizontally", "C.insert the pencil into the pencil sharpener", "D.plug in the power cord to the socket" ] }, { "task_id": "0001224", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the marker in the box, B.move the cup to the left, C.take the lid off the pot and put it on the table, take the toy tomato out of the pot and put it on the table, then use the towel to wipe the table, D.put the dish on the dish rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001224.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the box", "B.move the cup to the left", "C.take the lid off the pot and put it on the table, take the toy tomato out of the pot and put it on the table, then use the towel to wipe the table", "D.put the dish on the dish rack" ] }, { "task_id": "0001225", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.water the plant, B.put the book on the shelf, C.taking out the light bulb by rotating it, D.take the green plush toy out of the drawer and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001225.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.put the book on the shelf", "C.taking out the light bulb by rotating it", "D.take the green plush toy out of the drawer and put it on the table" ] }, { "task_id": "0001226", "task": "TrajChoice", "id": "RH20T_cfg4_task_0075_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.play the drum, B.finish setting up the starting position of a chessboard that is almost arranged, C.take the fork from the counter and put it in the drawer, D.close the lid of the colourless bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001226.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.take the fork from the counter and put it in the drawer", "D.close the lid of the colourless bowl" ] }, { "task_id": "0001227", "task": "TrajChoice", "id": "RH20T_cfg5_task_0091_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.flip the second switch from the right on the adaptor, B.unfold the green cloth, C.move an object from one box to another, D.pick up the blue object on the table and put it in the open drawer and close it] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001227.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip the second switch from the right on the adaptor", "B.unfold the green cloth", "C.move an object from one box to another", "D.pick up the blue object on the table and put it in the open drawer and close it" ] }, { "task_id": "0001228", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the light, B.pick up the cup, C.put the lid on the counter on the bottom shelf of the open cabinet, D.move the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001228.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light", "B.pick up the cup", "C.put the lid on the counter on the bottom shelf of the open cabinet", "D.move the bowl" ] }, { "task_id": "0001229", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the object into the cup, B.grasp the handle and close the drawer, C.move the metal bowl to the right, D.put the black object on the cabinet] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001229.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the object into the cup", "B.grasp the handle and close the drawer", "C.move the metal bowl to the right", "D.put the black object on the cabinet" ] }, { "task_id": "0001230", "task": "TrajChoice", "id": "RH20T_cfg7_task_0022_user_0020_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.wave the flag, B.press the switch on the wall, C.moving the cup from the water dispenser to the right side, D.move the orange cloth and the orange clothes from the back of the chair to the chair], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001230.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.press the switch on the wall", "C.moving the cup from the water dispenser to the right side", "D.move the orange cloth and the orange clothes from the back of the chair to the chair" ] }, { "task_id": "0001231", "task": "TrajChoice", "id": "RH20T_cfg1_task_0039_user_0016_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the lid from the cabinet and put it on top of the microwave, B.close the topmost drawer, C.pour the water from one cup into another empty cup, D.swat with a flyswatter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001231.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the cabinet and put it on top of the microwave", "B.close the topmost drawer", "C.pour the water from one cup into another empty cup", "D.swat with a flyswatter" ] }, { "task_id": "0001232", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cloth strip onto the table, B.put the ball in the basket, C.put the pen into the pen holder, D.move the white cylinder on the table from the right side of the black machine to the left side of the black machine], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001232.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cloth strip onto the table", "B.put the ball in the basket", "C.put the pen into the pen holder", "D.move the white cylinder on the table from the right side of the black machine to the left side of the black machine" ] }, { "task_id": "0001233", "task": "TrajChoice", "id": "RH20T_cfg5_task_0026_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the pineapple plush from the box and put it on the toaster oven, B.use a gripper to push and close the drawer, C.place the circle on the right side of the table, D.chop the onions], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001233.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pineapple plush from the box and put it on the toaster oven", "B.use a gripper to push and close the drawer", "C.place the circle on the right side of the table", "D.chop the onions" ] }, { "task_id": "0001234", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the cup out of the bowl and place it on the counter, B.remove the spoon from the mug, C.close the sandwich maker, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001234.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup out of the bowl and place it on the counter", "B.remove the spoon from the mug", "C.close the sandwich maker", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001235", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0020_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the soccer ball into the goal, B.put the box in order, C.pour the contents in the cup into the bowl, D.put the object on the shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001235.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.put the box in order", "C.pour the contents in the cup into the bowl", "D.put the object on the shelf" ] }, { "task_id": "0001237", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.plug in the bulb holder with a bulb to the socket, B.clean the tabletop with a sponge, C.place the small cup on the water bottle, D.pull the black part of the lid] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001237.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder with a bulb to the socket", "B.clean the tabletop with a sponge", "C.place the small cup on the water bottle", "D.pull the black part of the lid" ] }, { "task_id": "0001238", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the lid on the electric kettle, B.play the drum, C.put the blue block inside the open drawer then close the drawer, D.put the packet in the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001238.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the lid on the electric kettle", "B.play the drum", "C.put the blue block inside the open drawer then close the drawer", "D.put the packet in the cabinet" ] }, { "task_id": "0001239", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.place the purple bottle horizontally on the table, C.pick up the plush corn and put it in the bowl, D.put the spoon in the pot into the container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001239.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.place the purple bottle horizontally on the table", "C.pick up the plush corn and put it in the bowl", "D.put the spoon in the pot into the container" ] }, { "task_id": "0001240", "task": "TrajChoice", "id": "RH20T_cfg3_task_0060_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the red handle off the shelf and put it on the table, B.transfer the box from the bag to the desktop, C.pick up the pen from the cup and place it on the table, D.turn the knob to decrease the volume of the speaker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001240.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the red handle off the shelf and put it on the table", "B.transfer the box from the bag to the desktop", "C.pick up the pen from the cup and place it on the table", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0001241", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the bin fully, B.pick up a small block, C.put the blue cup inside the orange cup, D.uncover the pot and put the lid on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001241.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bin fully", "B.pick up a small block", "C.put the blue cup inside the orange cup", "D.uncover the pot and put the lid on the table" ] }, { "task_id": "0001242", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press a button on the grey remote, B.grab a basketball, C.move the knife in the sink to the right, D.take a block from the Jenga tower] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001242.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button on the grey remote", "B.grab a basketball", "C.move the knife in the sink to the right", "D.take a block from the Jenga tower" ] }, { "task_id": "0001243", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grasp the handle and open the drawer, B.put the cup on the coffee machine, C.water the plant, D.put the marker into the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001243.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.put the cup on the coffee machine", "C.water the plant", "D.put the marker into the cup" ] }, { "task_id": "0001244", "task": "TrajChoice", "id": "RH20T_cfg5_task_0067_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press a button from top to bottom, B.move the yellow plate backwards, C.open the microwave door, D.open the left door of the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001244.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom", "B.move the yellow plate backwards", "C.open the microwave door", "D.open the left door of the cabinet" ] }, { "task_id": "0001245", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.use a clamp, B.play the first move as black on the 3-4 point in the upper right corner of the Go board, C.turn on the desk lamp by pressing the button, D.put the orange object in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001245.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a clamp", "B.play the first move as black on the 3-4 point in the upper right corner of the Go board", "C.turn on the desk lamp by pressing the button", "D.put the orange object in the bowl" ] }, { "task_id": "0001246", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0003_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.unfold the leg of the glasses (with one hand), B.put the bottle on the side of the basin, C.play jenga, D.moving the blocks from the block pile to the blocks], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001246.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.put the bottle on the side of the basin", "C.play jenga", "D.moving the blocks from the block pile to the blocks" ] }, { "task_id": "0001247", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the bottom drawer of the file cabinet on the right, B.turn off the desk lamp by pressing the button, C.take the lid off the pot and place it on the countertop, D.turn the button on the power strip clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001247.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer of the file cabinet on the right", "B.turn off the desk lamp by pressing the button", "C.take the lid off the pot and place it on the countertop", "D.turn the button on the power strip clockwise" ] }, { "task_id": "0001250", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the fork on the drying rack, B.close the open upper cabinet door, C.pick up a generation of things and then put it down, D.open the drawer, take out the toys inside, then close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001250.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork on the drying rack", "B.close the open upper cabinet door", "C.pick up a generation of things and then put it down", "D.open the drawer, take out the toys inside, then close the drawer" ] }, { "task_id": "0001251", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the silver jar on the microwave, B.move the towel from the rack to the table, C.remove the green plush toy from the left plate on the stove and put it on the counter, D.pick up the block and place it on the left side, there are obstacles], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001251.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the silver jar on the microwave", "B.move the towel from the rack to the table", "C.remove the green plush toy from the left plate on the stove and put it on the counter", "D.pick up the block and place it on the left side, there are obstacles" ] }, { "task_id": "0001252", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the knife to the right side of the plate, B.use the gripper to push and close the drawer, C.pour the contents of the colourless bowl into the blue bowl, D.put the black bucket on the left side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001252.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the knife to the right side of the plate", "B.use the gripper to push and close the drawer", "C.pour the contents of the colourless bowl into the blue bowl", "D.put the black bucket on the left side of the table" ] }, { "task_id": "0001253", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the knife on the cutting board, B.press the machine switch, C.put the marker in the cup, D.hang the white cloth on the black stand], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001253.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.press the machine switch", "C.put the marker in the cup", "D.hang the white cloth on the black stand" ] }, { "task_id": "0001254", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object into the container, B.use a shovel to scoop up an object, C.put the yellow corn in the white bowl, D.close a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001254.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the container", "B.use a shovel to scoop up an object", "C.put the yellow corn in the white bowl", "D.close a sliding window" ] }, { "task_id": "0001255", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.plug in the bulb holder to the socket, B.take the cardboard from the swivel chair and place it on another chair, C.remove the marker from the mug, D.move the object and place the object in the right plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001255.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.take the cardboard from the swivel chair and place it on another chair", "C.remove the marker from the mug", "D.move the object and place the object in the right plate" ] }, { "task_id": "0001256", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the support bracket inside the table, B.move the tap nozzle to the left, C.use the gripper to push and close the drawer, D.put the silver marker pen into the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001256.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the support bracket inside the table", "B.move the tap nozzle to the left", "C.use the gripper to push and close the drawer", "D.put the silver marker pen into the container" ] }, { "task_id": "0001257", "task": "TrajChoice", "id": "RH20T_cfg5_task_0021_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the desk lamp by pressing the button, B.close the drawer, C.transfer the object from the table to the box, D.pour the contents of the cup onto the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001257.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.close the drawer", "C.transfer the object from the table to the box", "D.pour the contents of the cup onto the table" ] }, { "task_id": "0001258", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.sliding the test paper on the table, B.pick up the green thing on the table and put it in the paper bag, C.pick up a bag of things, D.put the orange object into the black bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001258.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sliding the test paper on the table", "B.pick up the green thing on the table and put it in the paper bag", "C.pick up a bag of things", "D.put the orange object into the black bowl" ] }, { "task_id": "0001259", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.play the drum, B.fold the cloth, C.put the bottle in the bag and put the bag on the chair, D.take the lid off the storage box and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001259.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.fold the cloth", "C.put the bottle in the bag and put the bag on the chair", "D.take the lid off the storage box and put it on the table" ] }, { "task_id": "0001261", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker inside the mug cup, B.place the marker to the left of the bowl, C.pick up the cup, D.push the toaster press handle down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001261.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the mug cup", "B.place the marker to the left of the bowl", "C.pick up the cup", "D.push the toaster press handle down" ] }, { "task_id": "0001262", "task": "TrajChoice", "id": "RH20T_cfg1_task_0013_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the marker from the black cup and put it on the table, B.put the masking tape in the bowl, C.pick the shirt on the bottom left side of the bed and place it on top of the blue shirt, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001262.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the black cup and put it on the table", "B.put the masking tape in the bowl", "C.pick the shirt on the bottom left side of the bed and place it on top of the blue shirt", "D.place the block on the scale" ] }, { "task_id": "0001263", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up a bag of things, B.move the stapler to the right, C.place the handset of the telephone on the corresponding phone cradle, D.take the blue cup from the sink and place it on the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001263.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.move the stapler to the right", "C.place the handset of the telephone on the corresponding phone cradle", "D.take the blue cup from the sink and place it on the counter" ] }, { "task_id": "0001264", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the water from one cup into another empty cup, B.close a sliding window, C.move the gray toy to the left, D.open the first top drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001264.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.close a sliding window", "C.move the gray toy to the left", "D.open the first top drawer" ] }, { "task_id": "0001265", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the black object from the bottom shelf to the table, B.pick up the small block on the right and move it to the left, C.move the brush inside the flask up and down, D.pour the contents of the cup onto the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001265.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object from the bottom shelf to the table", "B.pick up the small block on the right and move it to the left", "C.move the brush inside the flask up and down", "D.pour the contents of the cup onto the table" ] }, { "task_id": "0001266", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.dial a number on an old rotary phone, B.pick up the orange toy and put it in the black tray, C.put the green block in the bowl, D.use the white towel to wipe the white plate, then put the white plate on top of the microwave] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001266.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.dial a number on an old rotary phone", "B.pick up the orange toy and put it in the black tray", "C.put the green block in the bowl", "D.use the white towel to wipe the white plate, then put the white plate on top of the microwave" ] }, { "task_id": "0001267", "task": "TrajChoice", "id": "RH20T_cfg7_task_0226_user_0066_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the clothes and toys to the left side of the table, B.take the fruit out of the carrier bag and place it inside the glass bowl, C.cut the cucumber into segments, D.remove a bottle from the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001267.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clothes and toys to the left side of the table", "B.take the fruit out of the carrier bag and place it inside the glass bowl", "C.cut the cucumber into segments", "D.remove a bottle from the box" ] }, { "task_id": "0001268", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.rotate the machine switch clockwise, B.move the marker closer to the bowl, C.press a button horizontally with obstacles, D.put the marker in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001268.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the machine switch clockwise", "B.move the marker closer to the bowl", "C.press a button horizontally with obstacles", "D.put the marker in the bowl" ] }, { "task_id": "0001269", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the ball closer to the spoon, B.place the handset of the telephone on the corresponding phone cradle, C.take the tape from the shelf and put it on the table, D.insert the tip of a large pipette into the holder for large pipette tips], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001269.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the ball closer to the spoon", "B.place the handset of the telephone on the corresponding phone cradle", "C.take the tape from the shelf and put it on the table", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001270", "task": "TrajChoice", "id": "RH20T_cfg1_task_0071_user_0010_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the green towel to the bottom right corner, B.close a sliding window, C.move the blue bottle to the left, D.put the blocks into the block pile], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001270.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green towel to the bottom right corner", "B.close a sliding window", "C.move the blue bottle to the left", "D.put the blocks into the block pile" ] }, { "task_id": "0001271", "task": "TrajChoice", "id": "RH20T_cfg6_task_0088_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the bowl, B.pick up and place an object with obstacles, C.put the green cube on top of the light yellow block, D.reposition the cup on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001271.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.pick up and place an object with obstacles", "C.put the green cube on top of the light yellow block", "D.reposition the cup on the counter" ] }, { "task_id": "0001272", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the switch on the lower left side of the wall, B.pick up the object from the cup and put it on the counter, C.drag the plate to the goal post after holding it down, D.unfold a piece of paper that has been folded once (one end is pressed down by a weight)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001272.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the lower left side of the wall", "B.pick up the object from the cup and put it on the counter", "C.drag the plate to the goal post after holding it down", "D.unfold a piece of paper that has been folded once (one end is pressed down by a weight)" ] }, { "task_id": "0001273", "task": "TrajChoice", "id": "RH20T_cfg4_task_0080_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the clear storage container out of the sink, B.sliding cloth wiping cabinet, C.move the clothes to the left side of the bed, D.flip over and spread out the paper that is laid flat on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001273.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the clear storage container out of the sink", "B.sliding cloth wiping cabinet", "C.move the clothes to the left side of the bed", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0001274", "task": "TrajChoice", "id": "RH20T_cfg2_task_0094_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open a box, B.move the spoon into the white plate, C.put the lid on the teapot, D.open the faucet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001274.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.move the spoon into the white plate", "C.put the lid on the teapot", "D.open the faucet" ] }, { "task_id": "0001275", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.cover the pot with the silver lid, B.take the photo frame down from the bracket, C.put the purple packet in the sink, D.pull out the black storage bin from underneath the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001275.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the silver lid", "B.take the photo frame down from the bracket", "C.put the purple packet in the sink", "D.pull out the black storage bin from underneath the cabinet" ] }, { "task_id": "0001276", "task": "TrajChoice", "id": "RH20T_cfg1_task_0060_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the pen from the table and put it in the cup, B.slide the grey towel to the left, C.grab the block and place it at the designated location, D.turn the knob to decrease the volume of the speaker] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001276.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the table and put it in the cup", "B.slide the grey towel to the left", "C.grab the block and place it at the designated location", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0001277", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the block to the right side of the table, B.take the cup off the cup rack, C.put the fork on the blue cutlery holder on the left, D.draw the curtain] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001277.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block to the right side of the table", "B.take the cup off the cup rack", "C.put the fork on the blue cutlery holder on the left", "D.draw the curtain" ] }, { "task_id": "0001278", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button on the level operation platform, B.pour the beans from the cup into the bowl, C.assemble: attach the bubble ring to the ball, D.transfer the lid from the blue pot to the black pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001278.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the level operation platform", "B.pour the beans from the cup into the bowl", "C.assemble: attach the bubble ring to the ball", "D.transfer the lid from the blue pot to the black pot" ] }, { "task_id": "0001279", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the object from one box to another, B.remove the marker from the silver cup, C.put the garbage in the trash can, D.put the bottle on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001279.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object from one box to another", "B.remove the marker from the silver cup", "C.put the garbage in the trash can", "D.put the bottle on the table" ] }, { "task_id": "0001280", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold the shirt, B.rotate the steering wheel counterclockwise, C.put the middle blue block on the green block, D.pour the contents from the box onto the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001280.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the shirt", "B.rotate the steering wheel counterclockwise", "C.put the middle blue block on the green block", "D.pour the contents from the box onto the table" ] }, { "task_id": "0001282", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.unscrew the lid from the jar, B.slide the black object on the top of the cup to the left, C.pick up the cup from the table and move it slightly forward, D.open the bottom drawer of the file cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001282.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.slide the black object on the top of the cup to the left", "C.pick up the cup from the table and move it slightly forward", "D.open the bottom drawer of the file cabinet" ] }, { "task_id": "0001283", "task": "TrajChoice", "id": "RH20T_cfg1_task_0111_user_0014_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the red cup forward, B.move the silver pot to the top left stove plate, C.put the object with the corresponding shape into the corresponding hole, D.wipe the words on the whiteboard with a blackboard eraser] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001283.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the red cup forward", "B.move the silver pot to the top left stove plate", "C.put the object with the corresponding shape into the corresponding hole", "D.wipe the words on the whiteboard with a blackboard eraser" ] }, { "task_id": "0001284", "task": "TrajChoice", "id": "RH20T_cfg6_task_0029_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull the handle to open the drawer, B.uncover the pot, C.pick up the towel and put it on the rack, D.put the spoon from the jar onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001284.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the handle to open the drawer", "B.uncover the pot", "C.pick up the towel and put it on the rack", "D.put the spoon from the jar onto the table" ] }, { "task_id": "0001285", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.put the cup on the cup rack, C.put the clothes on the box, D.use the white cloth to push the objects to the left and put them in the white container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001285.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.put the cup on the cup rack", "C.put the clothes on the box", "D.use the white cloth to push the objects to the left and put them in the white container" ] }, { "task_id": "0001286", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0020_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.bring the mug closer to the edge, B.press the button on top of the coffee maker, C.put the cup on the specified position of the table, D.pour the water from one cup into another empty cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001286.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.bring the mug closer to the edge", "B.press the button on top of the coffee maker", "C.put the cup on the specified position of the table", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0001287", "task": "TrajChoice", "id": "RH20T_cfg7_task_0053_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the jar into the bowl, B.transfer the black item from the paper to the table, C.use a clamp, D.take the black marker out of the black cup] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001287.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the jar into the bowl", "B.transfer the black item from the paper to the table", "C.use a clamp", "D.take the black marker out of the black cup" ] }, { "task_id": "0001288", "task": "TrajChoice", "id": "RH20T_cfg4_task_0002_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the napkin on the table, B.put the orange block on top of the green one, C.pour the item from the cup into the white bowl, D.press a button on the remote] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001288.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the napkin on the table", "B.put the orange block on top of the green one", "C.pour the item from the cup into the white bowl", "D.press a button on the remote" ] }, { "task_id": "0001289", "task": "TrajChoice", "id": "RH20T_cfg6_task_0051_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the dish off the dish rack, B.remove the tomato plush toy from the black tray and place it in the basket, C.close the door of the cabinet on the right, D.pick up the plush toy from the bowl and put it on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001289.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.remove the tomato plush toy from the black tray and place it in the basket", "C.close the door of the cabinet on the right", "D.pick up the plush toy from the bowl and put it on the counter" ] }, { "task_id": "0001291", "task": "TrajChoice", "id": "RH20T_cfg4_task_0080_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the orange cup in the blue cup, B.assemble: attach the bubble ring to the ball, C.flip over and spread out the paper that is laid flat on the table, D.put the triangular blocks on the desktop into the transparent bag], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001291.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup in the blue cup", "B.assemble: attach the bubble ring to the ball", "C.flip over and spread out the paper that is laid flat on the table", "D.put the triangular blocks on the desktop into the transparent bag" ] }, { "task_id": "0001292", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the spatula on the counter, B.turn on the desk lamp by pressing the button, C.put the block on the tray, D.press the container tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001292.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spatula on the counter", "B.turn on the desk lamp by pressing the button", "C.put the block on the tray", "D.press the container tap" ] }, { "task_id": "0001293", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0020_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button on the device, B.open the faucet, C.pick up the small block on the left and move it to the right, D.move the sauce bottle on the right side of the table backwards], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001293.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the device", "B.open the faucet", "C.pick up the small block on the left and move it to the right", "D.move the sauce bottle on the right side of the table backwards" ] }, { "task_id": "0001294", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.sliding the towel on the table, folding the towel, B.put the bottle on the bottom tray, C.put the bowl into the microwave, D.remove the pen from the mug and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001294.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sliding the towel on the table, folding the towel", "B.put the bottle on the bottom tray", "C.put the bowl into the microwave", "D.remove the pen from the mug and place it on the table" ] }, { "task_id": "0001295", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0004_cfg_0005_104122063678#649", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take out a Hanoi block and throw it aside, B.pull the colourless bucket forward, C.put the object with the corresponding shape into the corresponding hole, D.put the bowl into the microwave], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001295.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.pull the colourless bucket forward", "C.put the object with the corresponding shape into the corresponding hole", "D.put the bowl into the microwave" ] }, { "task_id": "0001296", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button, B.put the red ball in the bowl, C.open the cover of the book on the table, D.scrub the inside of the flask], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001296.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button", "B.put the red ball in the bowl", "C.open the cover of the book on the table", "D.scrub the inside of the flask" ] }, { "task_id": "0001297", "task": "TrajChoice", "id": "RH20T_cfg6_task_0090_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.the lid covering the kettle is on the table, B.close the drawer, C.push the cup to the left, D.put the silver object into the transparent bottle on the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001297.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the lid covering the kettle is on the table", "B.close the drawer", "C.push the cup to the left", "D.put the silver object into the transparent bottle on the right" ] }, { "task_id": "0001298", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the spoon in the pot, B.transfer the block from the table to the designated location, C.press the button on the right side of the toaster, D.press the red button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001298.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon in the pot", "B.transfer the block from the table to the designated location", "C.press the button on the right side of the toaster", "D.press the red button from top to bottom" ] }, { "task_id": "0001300", "task": "TrajChoice", "id": "RH20T_cfg7_task_0022_user_0020_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pressing the piano keys, B.put the object on the table at the specified position, C.move the green object to the left, D.wave the flag], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001300.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the piano keys", "B.put the object on the table at the specified position", "C.move the green object to the left", "D.wave the flag" ] }, { "task_id": "0001301", "task": "TrajChoice", "id": "RH20T_cfg6_task_0209_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the chocolate inside the sink, B.stir the spoon clockwise, C.slice the carrots, D.put the rope on the black object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001301.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the chocolate inside the sink", "B.stir the spoon clockwise", "C.slice the carrots", "D.put the rope on the black object" ] }, { "task_id": "0001302", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the orange toy from the table and put it in the silver pot, B.the movable remote control, C.slide the pot to the right on the stove, D.put the plate on the bowl rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001302.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange toy from the table and put it in the silver pot", "B.the movable remote control", "C.slide the pot to the right on the stove", "D.put the plate on the bowl rack" ] }, { "task_id": "0001303", "task": "TrajChoice", "id": "RH20T_cfg5_task_0029_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the remote to the surface above the top shelf, B.take the spoon from the bowl and put it on the table, C.grasp the handle and open the drawer, D.put the clothes rack on the bed], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001303.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the remote to the surface above the top shelf", "B.take the spoon from the bowl and put it on the table", "C.grasp the handle and open the drawer", "D.put the clothes rack on the bed" ] }, { "task_id": "0001304", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the pen from the mug then put it on the table, B.remove the lid from the black pot, C.transfer the spoon from the washing machine to the rack, D.insert the tip of a large pipette into the holder for large pipette tips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001304.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the mug then put it on the table", "B.remove the lid from the black pot", "C.transfer the spoon from the washing machine to the rack", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001305", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull out a napkin, B.put the cup on top of the other two cups, C.move the orange cloth on the table to the right, D.press the button on the device], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001305.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.put the cup on top of the other two cups", "C.move the orange cloth on the table to the right", "D.press the button on the device" ] }, { "task_id": "0001306", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the pen into the pen holder, B.pick up the small towel and throw it onto the chair, C.remove the marker from the cup and put it on the table, D.put the black cup on the white object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001306.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.pick up the small towel and throw it onto the chair", "C.remove the marker from the cup and put it on the table", "D.put the black cup on the white object" ] }, { "task_id": "0001307", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the marker out of the white coffee cup, B.screw the lid onto the jar, C.put the blue bowl in the cupboard, D.open the top door of the fridge], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001307.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the white coffee cup", "B.screw the lid onto the jar", "C.put the blue bowl in the cupboard", "D.open the top door of the fridge" ] }, { "task_id": "0001308", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the vial from the tray and put it in the transparent bowl, B.turn the hands of a clock, C.put the orange plushie in the box, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001308.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the vial from the tray and put it in the transparent bowl", "B.turn the hands of a clock", "C.put the orange plushie in the box", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001309", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the drawer, then take an object from the drawer and put it into the box on the table, B.turn on the desk lamp by pressing the button, C.move the blue doll to the left side of the silver pot, D.take an object from the sink and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001309.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer, then take an object from the drawer and put it into the box on the table", "B.turn on the desk lamp by pressing the button", "C.move the blue doll to the left side of the silver pot", "D.take an object from the sink and place it on the table" ] }, { "task_id": "0001310", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0013_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.grasp the moving object, B.move the silver bowl forward, C.pick up the brush from the table and place it on the pen rack, D.pour the contents of the bag into the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001310.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the moving object", "B.move the silver bowl forward", "C.pick up the brush from the table and place it on the pen rack", "D.pour the contents of the bag into the container" ] }, { "task_id": "0001312", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the soccer ball into the goal, B.turn the knob on the speaker clockwise, C.press the piano keys, D.hang the peg on the black stand], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001312.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the soccer ball into the goal", "B.turn the knob on the speaker clockwise", "C.press the piano keys", "D.hang the peg on the black stand" ] }, { "task_id": "0001313", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker in the colourless glass, B.slide the outer casing onto the gift box, C.move the object from the plane to the container, D.put the cup from the microwave on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001313.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the colourless glass", "B.slide the outer casing onto the gift box", "C.move the object from the plane to the container", "D.put the cup from the microwave on the table" ] }, { "task_id": "0001314", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press a button from top to bottom, B.pick up the can and put it in the sink, C.press the nozzle of the bottle, D.put the jar on the left side of the sink countertop table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001314.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom", "B.pick up the can and put it in the sink", "C.press the nozzle of the bottle", "D.put the jar on the left side of the sink countertop table" ] }, { "task_id": "0001315", "task": "TrajChoice", "id": "RH20T_cfg3_task_0008_user_0016_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the pen from the black cup and put it on the table, B.move the tape from the box to the adjacent box, C.grab the block and place it at the designated location, D.hit the pool ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001315.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the black cup and put it on the table", "B.move the tape from the box to the adjacent box", "C.grab the block and place it at the designated location", "D.hit the pool ball" ] }, { "task_id": "0001316", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.fold the towel on the table, B.use the gripper to push the small block from left to right, C.put the cup on the device, D.put the marker in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001316.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the towel on the table", "B.use the gripper to push the small block from left to right", "C.put the cup on the device", "D.put the marker in the cup" ] }, { "task_id": "0001317", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0020_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the cup on the right side of the table, B.pick up a small block, C.pick up the cooking spatula and put it in the pot, D.turn on the tap] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001317.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the right side of the table", "B.pick up a small block", "C.pick up the cooking spatula and put it in the pot", "D.turn on the tap" ] }, { "task_id": "0001318", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the cellar in the bowl and put it on the table, B.take the towel off the shelf, C.move the pot on the stove backward, pick up the white bottle from the stove and put it into the sink, D.pull up the lever], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001318.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cellar in the bowl and put it on the table", "B.take the towel off the shelf", "C.move the pot on the stove backward, pick up the white bottle from the stove and put it into the sink", "D.pull up the lever" ] }, { "task_id": "0001319", "task": "TrajChoice", "id": "RH20T_cfg1_task_0120_user_0014_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the paper towel to wipe the white ceramic plate, B.put the remote control on the sofa cushion, C.take the marker out of the white cup and place it on the table, D.installing the light bulb by rotating it] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001319.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the paper towel to wipe the white ceramic plate", "B.put the remote control on the sofa cushion", "C.take the marker out of the white cup and place it on the table", "D.installing the light bulb by rotating it" ] }, { "task_id": "0001320", "task": "TrajChoice", "id": "RH20T_cfg1_task_0067_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull open the drawer, B.put the marker in the bowl, C.press a button from top to bottom with obstacles, D.put the yellow block in the wooden toy box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001320.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull open the drawer", "B.put the marker in the bowl", "C.press a button from top to bottom with obstacles", "D.put the yellow block in the wooden toy box" ] }, { "task_id": "0001322", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the wrench inside the large blue cup, B.moving the marker from the black cup to the table, C.scoop water with a large spoon from one bowl to another, D.place the pen into the middle container], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001322.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the wrench inside the large blue cup", "B.moving the marker from the black cup to the table", "C.scoop water with a large spoon from one bowl to another", "D.place the pen into the middle container" ] }, { "task_id": "0001323", "task": "TrajChoice", "id": "RH20T_cfg6_task_0053_user_0014_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the spoon on the plate, B.pick up the black cloth from the table and put it on the chair back, C.move the bottle from the table to the plastic bag, D.use a clamp], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001323.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the plate", "B.pick up the black cloth from the table and put it on the chair back", "C.move the bottle from the table to the plastic bag", "D.use a clamp" ] }, { "task_id": "0001324", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker in the mug, B.push the soccer ball into the goal, C.open the top compartment of the coffee machine, D.move the mug to the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001324.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.push the soccer ball into the goal", "C.open the top compartment of the coffee machine", "D.move the mug to the left" ] }, { "task_id": "0001325", "task": "TrajChoice", "id": "RH20T_cfg3_task_0007_user_0016_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup in the cabinet, B.unfold the clothes, C.press the button on the heater, D.slide a small block from the right side of the table to the left side] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001325.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the cabinet", "B.unfold the clothes", "C.press the button on the heater", "D.slide a small block from the right side of the table to the left side" ] }, { "task_id": "0001326", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the switch on the wall, B.stacking blocks (small Lego) randomly one at a time, C.put the fork in the white bowl, D.move the clothes rack to the side of the pillow], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001326.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch on the wall", "B.stacking blocks (small Lego) randomly one at a time", "C.put the fork in the white bowl", "D.move the clothes rack to the side of the pillow" ] }, { "task_id": "0001327", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the can and make it stand, B.grasp a small block to sweep another small block into the designated position, C.cover the pot and place it in the box, then push the box to the table, D.put the bottle on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001327.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the can and make it stand", "B.grasp a small block to sweep another small block into the designated position", "C.cover the pot and place it in the box, then push the box to the table", "D.put the bottle on the table" ] }, { "task_id": "0001328", "task": "TrajChoice", "id": "RH20T_cfg7_task_0015_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the mug from the sink to the dish rack, B.put a basketball into the basket, C.put the silver cup beside the cup, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001328.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug from the sink to the dish rack", "B.put a basketball into the basket", "C.put the silver cup beside the cup", "D.play the drum" ] }, { "task_id": "0001329", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the black Lego block directly above the Lego baseplate, B.put the photo frame on the bracket, C.press the button on the kitchen hood, D.slide the white bowl to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001329.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the black Lego block directly above the Lego baseplate", "B.put the photo frame on the bracket", "C.press the button on the kitchen hood", "D.slide the white bowl to the right" ] }, { "task_id": "0001330", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the spoon and put it in the cup, B.use the white towel to wipe the table, then take the white lid and put it on the table, then move the clear cup towards the towel, C.put the orange rubber duck in the silver pot, D.grasp the handle and open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001330.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the spoon and put it in the cup", "B.use the white towel to wipe the table, then take the white lid and put it on the table, then move the clear cup towards the towel", "C.put the orange rubber duck in the silver pot", "D.grasp the handle and open the drawer" ] }, { "task_id": "0001331", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug, B.put the cup on the table, C.clean the tabletop with a sponge, D.slide the black object on the top of the cup to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001331.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.put the cup on the table", "C.clean the tabletop with a sponge", "D.slide the black object on the top of the cup to the left" ] }, { "task_id": "0001332", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn off the power strip by pressing the button, B.open the right door of the cabinet, C.move the orange cup to the right, D.use a clamp], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001332.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.open the right door of the cabinet", "C.move the orange cup to the right", "D.use a clamp" ] }, { "task_id": "0001333", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.organizing the desktop, B.put the orange cup in the black bowl, C.clean the table with a cloth, D.pick up and then put down the blue object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001333.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.organizing the desktop", "B.put the orange cup in the black bowl", "C.clean the table with a cloth", "D.pick up and then put down the blue object" ] }, { "task_id": "0001334", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cloth, B.pick up the wipe from the box and wrap it in the towel on the table, C.turn on the desk lamp by pressing the button, D.put the marker in the black mug cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001334.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cloth", "B.pick up the wipe from the box and wrap it in the towel on the table", "C.turn on the desk lamp by pressing the button", "D.put the marker in the black mug cup" ] }, { "task_id": "0001335", "task": "TrajChoice", "id": "RH20T_cfg2_task_0056_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the cloth on the counter to wipe the countertop, B.put the rope inside the box, C.put the orange block on the green block, D.received the cube handed over by a person] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001335.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the cloth on the counter to wipe the countertop", "B.put the rope inside the box", "C.put the orange block on the green block", "D.received the cube handed over by a person" ] }, { "task_id": "0001336", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the green small ball into the bottle, B.put the shoe upright, C.pick up the cup, D.rotate the cap on the bottle counterclockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001336.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green small ball into the bottle", "B.put the shoe upright", "C.pick up the cup", "D.rotate the cap on the bottle counterclockwise" ] }, { "task_id": "0001337", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the cup on the desk to the right of its original position, B.turn off the desk lamp by pressing the button, C.place the block on the scale, D.wipe the whiteboard with the blackboard eraser while sliding it on the whiteboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001337.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup on the desk to the right of its original position", "B.turn off the desk lamp by pressing the button", "C.place the block on the scale", "D.wipe the whiteboard with the blackboard eraser while sliding it on the whiteboard" ] }, { "task_id": "0001338", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the silver bottle upright, B.move the white pot from the right side of the stove to the left, C.put the white bucket in a tipped position on the table, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001338.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver bottle upright", "B.move the white pot from the right side of the stove to the left", "C.put the white bucket in a tipped position on the table", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001339", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the switch of the microwave oven clockwise, B.take the cup out of the pot and put it on the table, C.use the gripper to push and close the drawer, D.pull up the lever], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001339.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the switch of the microwave oven clockwise", "B.take the cup out of the pot and put it on the table", "C.use the gripper to push and close the drawer", "D.pull up the lever" ] }, { "task_id": "0001340", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the small ball on the table, B.turn on the power strip by pressing the button, C.put the black bowl into the sink, D.put the yellow block in the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001340.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small ball on the table", "B.turn on the power strip by pressing the button", "C.put the black bowl into the sink", "D.put the yellow block in the cup" ] }, { "task_id": "0001341", "task": "TrajChoice", "id": "RH20T_cfg6_task_0022_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the spoon in the black pot, B.move the box to the right, C.wave the flag, D.remove the objects from the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001341.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon in the black pot", "B.move the box to the right", "C.wave the flag", "D.remove the objects from the bowl" ] }, { "task_id": "0001342", "task": "TrajChoice", "id": "RH20T_cfg3_task_0060_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the knob to decrease the volume of the speaker, B.put the pen into the cup, C.move the clothes, D.put the green marker inside the clear cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001342.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.put the pen into the cup", "C.move the clothes", "D.put the green marker inside the clear cup" ] }, { "task_id": "0001343", "task": "TrajChoice", "id": "RH20T_cfg4_task_0047_user_0014_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the cup off the cup rack, B.pick up the pen from the table and put it in the white bowl, C.put an orange ring on the base, D.put the tool into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001343.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.pick up the pen from the table and put it in the white bowl", "C.put an orange ring on the base", "D.put the tool into the box" ] }, { "task_id": "0001344", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the blue bowl to the right side, B.put the white and blue object inside the purple cup in the open upper cabinet, C.pick up and place an object with obstacles, D.press the desktop remote control] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001344.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue bowl to the right side", "B.put the white and blue object inside the purple cup in the open upper cabinet", "C.pick up and place an object with obstacles", "D.press the desktop remote control" ] }, { "task_id": "0001345", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the contents of the cup into the bowl, B.pour the contents from the black bowl into the transparent box on the table, C.remove the small square block from the scale, D.put a block on the black circle] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001345.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the cup into the bowl", "B.pour the contents from the black bowl into the transparent box on the table", "C.remove the small square block from the scale", "D.put a block on the black circle" ] }, { "task_id": "0001346", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the marker from the cup and put it on the table, B.turn on the desk lamp by pressing the button, C.sharpen the pencil with a pencil sharpener, D.pull the handle on the right side of the cabinet to open the door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001346.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the cup and put it on the table", "B.turn on the desk lamp by pressing the button", "C.sharpen the pencil with a pencil sharpener", "D.pull the handle on the right side of the cabinet to open the door" ] }, { "task_id": "0001347", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0005_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the grey tape from the bottom of the black support and put it on the left side of the black support, B.take the roll of paper down from the shelf, C.move the white cloth to the pillow, D.scrubbing the table with a brush], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001347.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the grey tape from the bottom of the black support and put it on the left side of the black support", "B.take the roll of paper down from the shelf", "C.move the white cloth to the pillow", "D.scrubbing the table with a brush" ] }, { "task_id": "0001348", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the white mug forward, B.close the kitchen drawer, C.wave the flag, D.place the brown object in the red mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001348.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white mug forward", "B.close the kitchen drawer", "C.wave the flag", "D.place the brown object in the red mug" ] }, { "task_id": "0001349", "task": "TrajChoice", "id": "RH20T_cfg3_task_0052_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grab a basketball, release it and shoot it into the basket, B.folding the towel, C.play the first move as black on the 3-4 point in the upper right corner of the Go board, D.put the object in the container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001349.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, release it and shoot it into the basket", "B.folding the towel", "C.play the first move as black on the 3-4 point in the upper right corner of the Go board", "D.put the object in the container" ] }, { "task_id": "0001350", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drag the plate to the goal post after holding it down, B.scooping water with a large spoon into the basin, C.the operation of the cup, D.turn on the faucet] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001350.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.scooping water with a large spoon into the basin", "C.the operation of the cup", "D.turn on the faucet" ] }, { "task_id": "0001351", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put a white and red towel on the black pan then use it to wipe the pan, B.move the green plush toy inside the container forwards, C.take the pen out of the mug and place it on the counter, D.pick up a block] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001351.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a white and red towel on the black pan then use it to wipe the pan", "B.move the green plush toy inside the container forwards", "C.take the pen out of the mug and place it on the counter", "D.pick up a block" ] }, { "task_id": "0001352", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the green bowl downwards, B.move the stainless steel bowl to the right and move the black pot lid downward, C.pick up the bottle from the desktop and put it into the packaging bag, D.turn on the power strip by pressing the button], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001352.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green bowl downwards", "B.move the stainless steel bowl to the right and move the black pot lid downward", "C.pick up the bottle from the desktop and put it into the packaging bag", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0001353", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.get the screwdriver from the top of the cabinet, place it inside the open drawer of the cabinet and close the drawer, B.unfold the leg of the glasses (with one hand), C.press the mouse, D.place the marker on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001353.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.get the screwdriver from the top of the cabinet, place it inside the open drawer of the cabinet and close the drawer", "B.unfold the leg of the glasses (with one hand)", "C.press the mouse", "D.place the marker on the table" ] }, { "task_id": "0001354", "task": "TrajChoice", "id": "RH20T_cfg6_task_0001_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the red button on the orange base, B.put the white tube upright, C.put the lid of the cup on the table, D.move the bottle to the gray board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001354.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the red button on the orange base", "B.put the white tube upright", "C.put the lid of the cup on the table", "D.move the bottle to the gray board" ] }, { "task_id": "0001355", "task": "TrajChoice", "id": "RH20T_cfg7_task_0063_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use a shovel to scoop up an object, B.take the pen from the cup and put it on the table, C.move the lid from the table to the pot, D.move the can to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001355.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a shovel to scoop up an object", "B.take the pen from the cup and put it on the table", "C.move the lid from the table to the pot", "D.move the can to the right" ] }, { "task_id": "0001356", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the utensils to the utensil box, B.move an object from one box to another, C.pick up the object from the bowl and put it on the table, D.fold the orange piece of clothing on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001356.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the utensils to the utensil box", "B.move an object from one box to another", "C.pick up the object from the bowl and put it on the table", "D.fold the orange piece of clothing on the desk" ] }, { "task_id": "0001357", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the bottom drawer of the file cabinet to the right, B.remove the yellow object hanging on the white stand on the right and put it on the table, C.unfold a piece of paper that has been folded once and has a weight pressing down on one end, D.slide the lid on the wooden toy box forwards], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001357.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the file cabinet to the right", "B.remove the yellow object hanging on the white stand on the right and put it on the table", "C.unfold a piece of paper that has been folded once and has a weight pressing down on one end", "D.slide the lid on the wooden toy box forwards" ] }, { "task_id": "0001358", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the small block to the left, B.put the clothes in the box, C.close the toaster, D.wipe the table by sliding the towel on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001358.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small block to the left", "B.put the clothes in the box", "C.close the toaster", "D.wipe the table by sliding the towel on the table" ] }, { "task_id": "0001359", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the orange block on top of the yellow one, B.remove the marker from the cup and put it on the table inside the border, C.clean the table with a cloth, D.pour the contents of the box onto a towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001359.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange block on top of the yellow one", "B.remove the marker from the cup and put it on the table inside the border", "C.clean the table with a cloth", "D.pour the contents of the box onto a towel" ] }, { "task_id": "0001360", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0005_scene_0006_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull out a napkin, B.pick up the small glass bottle and put it in the grey box. pick up the grey box and place it on top of the black box, C.pour the contents of the cup into the bowl, D.put the plate on the countertop, put the cup in the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001360.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.pick up the small glass bottle and put it in the grey box. pick up the grey box and place it on top of the black box", "C.pour the contents of the cup into the bowl", "D.put the plate on the countertop, put the cup in the plate" ] }, { "task_id": "0001361", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.transfer the object from the stand to the white cloth, B.pick up the green tube from the table and put it in the yellow cup, C.pick up the small block on the left and move it to the right, D.pick the empty pack on the counter and throw it in the trash], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001361.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the stand to the white cloth", "B.pick up the green tube from the table and put it in the yellow cup", "C.pick up the small block on the left and move it to the right", "D.pick the empty pack on the counter and throw it in the trash" ] }, { "task_id": "0001362", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.unfold the cloth, B.remove the object from the scale, C.turn off the air fryer, D.press the power strip] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001362.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the cloth", "B.remove the object from the scale", "C.turn off the air fryer", "D.press the power strip" ] }, { "task_id": "0001364", "task": "TrajChoice", "id": "RH20T_cfg5_task_0091_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move an object from one box to another, B.put the cloth on the table, C.move the green object closer to you, D.remove the green plush toy from the stove and put it in the pot], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001364.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move an object from one box to another", "B.put the cloth on the table", "C.move the green object closer to you", "D.remove the green plush toy from the stove and put it in the pot" ] }, { "task_id": "0001365", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0010_scene_0009_cfg_0003_104122063550#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn the faucet nozzle to the middle, turn on the faucet, B.close the open drawer, C.place the block on the scale, D.clean the tabletop with a sponge], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001365.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the faucet nozzle to the middle, turn on the faucet", "B.close the open drawer", "C.place the block on the scale", "D.clean the tabletop with a sponge" ] }, { "task_id": "0001366", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bottle from the plastic bag on the table, B.hit the pool ball, C.take the lid off the pot and place it on the table, D.turn on the power strip by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001366.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle from the plastic bag on the table", "B.hit the pool ball", "C.take the lid off the pot and place it on the table", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0001367", "task": "TrajChoice", "id": "RH20T_cfg5_task_0025_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.unfold a piece of paper that has been folded in half once with one end pressed down by a heavy object, B.remove the cup from the shelf and put it on top of the cabinet, C.open a sliding window, D.push the faucet to the center of the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001367.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded in half once with one end pressed down by a heavy object", "B.remove the cup from the shelf and put it on top of the cabinet", "C.open a sliding window", "D.push the faucet to the center of the sink" ] }, { "task_id": "0001368", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the cup and put it on the counter, B.remove the clothes from the backrest of the grey chair and put them inside the white storage bin, C.move the mug to the right, D.turn off the water tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001368.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup and put it on the counter", "B.remove the clothes from the backrest of the grey chair and put them inside the white storage bin", "C.move the mug to the right", "D.turn off the water tap" ] }, { "task_id": "0001369", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the brown mug in the sink, B.take the photo frame down from the bracket, C.transfer the bottle from the table to the pot, D.put the bottle on the mat in the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001369.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brown mug in the sink", "B.take the photo frame down from the bracket", "C.transfer the bottle from the table to the pot", "D.put the bottle on the mat in the container" ] }, { "task_id": "0001370", "task": "TrajChoice", "id": "RH20T_cfg2_task_0011_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slide all the objects on the table to the left using the towel, B.pick up the kettle, and put it down, C.place the green block on the table, D.remove the marker from the mug and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001370.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide all the objects on the table to the left using the towel", "B.pick up the kettle, and put it down", "C.place the green block on the table", "D.remove the marker from the mug and place it on the table" ] }, { "task_id": "0001371", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.transfer the item from the countertop to the cabinet, B.hold a small block with the gripper and sweep it from left to right on the table, C.put the white bowl on the rack, D.close the lid on the coffeemaker chamber], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001371.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the item from the countertop to the cabinet", "B.hold a small block with the gripper and sweep it from left to right on the table", "C.put the white bowl on the rack", "D.close the lid on the coffeemaker chamber" ] }, { "task_id": "0001372", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.set the box upright on the table, B.use the red and white towel to wipe the pan, C.clean the tabletop with a sponge, D.hang the cloth on the screen], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001372.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.set the box upright on the table", "B.use the red and white towel to wipe the pan", "C.clean the tabletop with a sponge", "D.hang the cloth on the screen" ] }, { "task_id": "0001373", "task": "TrajChoice", "id": "RH20T_cfg7_task_0015_user_0014_scene_0002_cfg_0007_104122061018#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the drum, B.close the open drawer, C.put the cup on the cup rack, D.turn off the switch at the first from the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001373.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.close the open drawer", "C.put the cup on the cup rack", "D.turn off the switch at the first from the left" ] }, { "task_id": "0001374", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0001_scene_0010_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer the shovel from the bowl to the table, B.remove the green rectangular block from the blue rectangular block, C.take out a Hanoi block and throw it aside, D.place the watermelon and banana inside the pot, close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001374.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the shovel from the bowl to the table", "B.remove the green rectangular block from the blue rectangular block", "C.take out a Hanoi block and throw it aside", "D.place the watermelon and banana inside the pot, close the drawer" ] }, { "task_id": "0001375", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents of the bowl into the tupperware, B.pour the object from the green bowl into the white bowl, C.grab the block and place it at the designated location, D.take the pen out of the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001375.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl into the tupperware", "B.pour the object from the green bowl into the white bowl", "C.grab the block and place it at the designated location", "D.take the pen out of the cup and put it on the table" ] }, { "task_id": "0001376", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.drag the plate to the goal post after holding it down, B.wave the flag, C.open the microwave door, D.grab the block and place it at the designated location], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001376.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.wave the flag", "C.open the microwave door", "D.grab the block and place it at the designated location" ] }, { "task_id": "0001378", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0009_scene_0004_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the faucet switch to the left, B.put the clothes from the box on the table, C.push the white pot backwards, D.pick up the small block on the left and move it to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001378.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet switch to the left", "B.put the clothes from the box on the table", "C.push the white pot backwards", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0001379", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.swat with a flyswatter, B.place the object into the bowl, C.put the marker in the bowl, D.pour the coffee beans from the white plate on the desk into the coffee machine], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001379.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.place the object into the bowl", "C.put the marker in the bowl", "D.pour the coffee beans from the white plate on the desk into the coffee machine" ] }, { "task_id": "0001380", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up a small block, B.the unfolding cloth, C.turn on the desk lamp by pressing the button, D.cover the pot with the cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001380.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.the unfolding cloth", "C.turn on the desk lamp by pressing the button", "D.cover the pot with the cloth" ] }, { "task_id": "0001381", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the marker from the mug, B.put the remote control on the TV stand, C.pick up the lid, then place it on the pot, D.turn the hands of a clock], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001381.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.put the remote control on the TV stand", "C.pick up the lid, then place it on the pot", "D.turn the hands of a clock" ] }, { "task_id": "0001382", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the faucet handle to open the faucet, B.put the black t-shirt on the chair back, C.move the cloth from the tabletop to the edge of the box, D.turn on the power strip by pressing the button] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001382.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the faucet handle to open the faucet", "B.put the black t-shirt on the chair back", "C.move the cloth from the tabletop to the edge of the box", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0001383", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the blue marker out of the cup, B.turn the faucet nozzle counterclockwise, C.place the green object on the desk onto the shelf, D.turn the knob clockwise to adjust the volume], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001383.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue marker out of the cup", "B.turn the faucet nozzle counterclockwise", "C.place the green object on the desk onto the shelf", "D.turn the knob clockwise to adjust the volume" ] }, { "task_id": "0001384", "task": "TrajChoice", "id": "RH20T_cfg6_task_0053_user_0014_scene_0010_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the cup in the orange cup, B.use a clamp, C.put the marker inside the mug cup, D.move the lid above the black pot and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001384.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the orange cup", "B.use a clamp", "C.put the marker inside the mug cup", "D.move the lid above the black pot and place it on the table" ] }, { "task_id": "0001386", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object on the table, B.pull up the lever, C.wiping the table with a tissue, D.take the marker out of the white bowl and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001386.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the table", "B.pull up the lever", "C.wiping the table with a tissue", "D.take the marker out of the white bowl and put it on the table" ] }, { "task_id": "0001387", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick a packet on the counter and put it in the box, B.place the object on the other side of the sofa, C.insert the tip of a large pipette into the holder for large pipette tips, D.pick up the spoon and put it into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001387.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick a packet on the counter and put it in the box", "B.place the object on the other side of the sofa", "C.insert the tip of a large pipette into the holder for large pipette tips", "D.pick up the spoon and put it into the bowl" ] }, { "task_id": "0001388", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the yellow block in the cup, B.put the orange cup in the black bowl, C.clean the tabletop with a sponge, D.the movable measuring tape] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001388.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the cup", "B.put the orange cup in the black bowl", "C.clean the tabletop with a sponge", "D.the movable measuring tape" ] }, { "task_id": "0001389", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0005_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.hit the pool ball, B.move the light yellow block from the right side of the table and place it on top of the green block, C.put the jar into the sink, D.move the white mug to the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001389.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.move the light yellow block from the right side of the table and place it on top of the green block", "C.put the jar into the sink", "D.move the white mug to the left side of the table" ] }, { "task_id": "0001390", "task": "TrajChoice", "id": "RH20T_cfg7_task_0020_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.rotate the blue flag on the table, B.move the green cup on the table to the left, C.take the pen out of the transparent cup and place it on the left side of the table, D.put the medicine bottle on the table into the bag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001390.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the blue flag on the table", "B.move the green cup on the table to the left", "C.take the pen out of the transparent cup and place it on the left side of the table", "D.put the medicine bottle on the table into the bag" ] }, { "task_id": "0001391", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the top drawer of the cabinet, B.place the block on the block, C.unfold a piece of paper that has been folded once with one end being weighed down by a heavy object, D.put the building blocks on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001391.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the top drawer of the cabinet", "B.place the block on the block", "C.unfold a piece of paper that has been folded once with one end being weighed down by a heavy object", "D.put the building blocks on the table" ] }, { "task_id": "0001392", "task": "TrajChoice", "id": "RH20T_cfg1_task_0011_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.water the plant, B.pour the contents in the cup into the bowl, C.press the button, D.put the small black pot on the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001392.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.pour the contents in the cup into the bowl", "C.press the button", "D.put the small black pot on the towel" ] }, { "task_id": "0001393", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the cap on the silver jar, B.put the object from the bag onto the table, C.pick up a bag of things, D.finish setting up the starting position of a chessboard that is almost arranged] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001393.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cap on the silver jar", "B.put the object from the bag onto the table", "C.pick up a bag of things", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0001394", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.touch the lid of the cup, B.hang the black t-shirt on the black frame, C.move the block into the storage box, D.put the pen into the pen holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001394.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.touch the lid of the cup", "B.hang the black t-shirt on the black frame", "C.move the block into the storage box", "D.put the pen into the pen holder" ] }, { "task_id": "0001395", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the mouse to the left side of the table, B.pick up the lid and put it on the table, C.push the drawer closed, D.press the button horizontally], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001395.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mouse to the left side of the table", "B.pick up the lid and put it on the table", "C.push the drawer closed", "D.press the button horizontally" ] }, { "task_id": "0001396", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour some beans from the jar into the red bowl, B.move the bottle from the table to the plastic bag, C.turn off the power strip by pressing the button, D.take the cups out of the other cups] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001396.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour some beans from the jar into the red bowl", "B.move the bottle from the table to the plastic bag", "C.turn off the power strip by pressing the button", "D.take the cups out of the other cups" ] }, { "task_id": "0001397", "task": "TrajChoice", "id": "RH20T_cfg1_task_0019_user_0001_scene_0002_cfg_0001_035622060973#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the plate to the right, B.put the marker in the cup, C.move the measuring tape forward, D.play the first move as black on the 3-4 point in the upper right corner of the Go board] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001397.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the plate to the right", "B.put the marker in the cup", "C.move the measuring tape forward", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0001398", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0016_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the bottle to the right, B.unfold the leg of the glasses (with one hand), C.put the red marker into the maroon mug, then take the marker out, and move the mug to the left, D.drop a coin into a piggy bank], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001398.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle to the right", "B.unfold the leg of the glasses (with one hand)", "C.put the red marker into the maroon mug, then take the marker out, and move the mug to the left", "D.drop a coin into a piggy bank" ] }, { "task_id": "0001399", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the right knob on the bread toaster clockwise, B.grasp a small block to sweep another small block into the designated position, C.transfer the towel from the bowl to the countertop, D.move the orange fabric to the seat], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001399.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the right knob on the bread toaster clockwise", "B.grasp a small block to sweep another small block into the designated position", "C.transfer the towel from the bowl to the countertop", "D.move the orange fabric to the seat" ] }, { "task_id": "0001401", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the marker out of the sneaker and put it on the cabinet, B.pull out a napkin, C.pour the contents of the cup into the bowl, D.press the button on the machine] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001401.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the sneaker and put it on the cabinet", "B.pull out a napkin", "C.pour the contents of the cup into the bowl", "D.press the button on the machine" ] }, { "task_id": "0001402", "task": "TrajChoice", "id": "RH20T_cfg2_task_0200_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the spoon from the towel to the green bowl, B.the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips, C.put the stick block on the tower, D.the button on the wall] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001402.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spoon from the towel to the green bowl", "B.the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips", "C.put the stick block on the tower", "D.the button on the wall" ] }, { "task_id": "0001403", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the spoon and the strainer on the countertop, B.grasping a small block to sweep another small block into the designated position, C.remove the object from the scale, D.close the top cupboard] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001403.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon and the strainer on the countertop", "B.grasping a small block to sweep another small block into the designated position", "C.remove the object from the scale", "D.close the top cupboard" ] }, { "task_id": "0001404", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wipe the whiteboard with an eraser, B.move the bridge shaped object to the right side of the table, C.clean the table with a cloth, D.put the yellow cob of maize inside the silver pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001404.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the whiteboard with an eraser", "B.move the bridge shaped object to the right side of the table", "C.clean the table with a cloth", "D.put the yellow cob of maize inside the silver pot" ] }, { "task_id": "0001405", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the cabinet door on the far right, B.wipe the table, C.close the notebook, D.remove the bubble ring from the assembled bubble ring and ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001405.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cabinet door on the far right", "B.wipe the table", "C.close the notebook", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0001406", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0014_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the ring on the ring, B.move the black translucent bowl from above the table to below the table, C.put the garbage in the trash can, D.place the white object from the counter in the purple bowl then pour the objects in the bowl into the clear container on the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001406.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ring on the ring", "B.move the black translucent bowl from above the table to below the table", "C.put the garbage in the trash can", "D.place the white object from the counter in the purple bowl then pour the objects in the bowl into the clear container on the right" ] }, { "task_id": "0001407", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the blue block in the drawer and close the drawer, B.pull the zipper of the clothes up to the collar, C.unscrew the lid from the jar, D.remove the sweatshirt from the backrest of the black chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001407.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue block in the drawer and close the drawer", "B.pull the zipper of the clothes up to the collar", "C.unscrew the lid from the jar", "D.remove the sweatshirt from the backrest of the black chair" ] }, { "task_id": "0001408", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the red object to the left, B.take the clothes out of the laundry basket and put them on the table, C.press the button horizontally, D.put the block in the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001408.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the red object to the left", "B.take the clothes out of the laundry basket and put them on the table", "C.press the button horizontally", "D.put the block in the container" ] }, { "task_id": "0001409", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the green object from the table and put it in the bowl, B.place the magic cube on the scale, C.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb, D.put the banana inside the basket], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001409.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green object from the table and put it in the bowl", "B.place the magic cube on the scale", "C.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb", "D.put the banana inside the basket" ] }, { "task_id": "0001410", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0003_scene_0010_cfg_0002_036422060215#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push the small block to the left, B.fold the black towel on the desk, C.take the lid off the bottle and put it on the table, D.folding the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001410.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block to the left", "B.fold the black towel on the desk", "C.take the lid off the bottle and put it on the table", "D.folding the towel" ] }, { "task_id": "0001411", "task": "TrajChoice", "id": "RH20T_cfg6_task_0033_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the white mug to the left, B.pour the contents of the brown cup into the bowl, C.push the toaster lever down, D.push the small block to the position of the marked black dot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001411.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white mug to the left", "B.pour the contents of the brown cup into the bowl", "C.push the toaster lever down", "D.push the small block to the position of the marked black dot" ] }, { "task_id": "0001412", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0016_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the brush on the pen rack, B.move the cloth from the table to the hanger, C.drop a coin into a piggy bank, D.put the water bottle in the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001412.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.move the cloth from the table to the hanger", "C.drop a coin into a piggy bank", "D.put the water bottle in the box" ] }, { "task_id": "0001413", "task": "TrajChoice", "id": "RH20T_cfg7_task_0002_user_0020_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the soda can inside the open cabinet, B.close the faucet, C.pour the water from one cup into another empty cup, D.pull out a napkin] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001413.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the soda can inside the open cabinet", "B.close the faucet", "C.pour the water from one cup into another empty cup", "D.pull out a napkin" ] }, { "task_id": "0001414", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the lid on the bowl, B.push the top of the coffee maker to open it, C.pick up the bottle from the table and put it inside the clear container, D.dial a number on an old rotary phone], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001414.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the bowl", "B.push the top of the coffee maker to open it", "C.pick up the bottle from the table and put it inside the clear container", "D.dial a number on an old rotary phone" ] }, { "task_id": "0001415", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object to the table, B.unscrew the lid from the bottle and place the lid on the table, C.the blue bottle is moved from the white table and placed into the sink, D.pick up the block from the desk] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001415.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the table", "B.unscrew the lid from the bottle and place the lid on the table", "C.the blue bottle is moved from the white table and placed into the sink", "D.pick up the block from the desk" ] }, { "task_id": "0001416", "task": "TrajChoice", "id": "RH20T_cfg1_task_0039_user_0016_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the block on the block to the desk, B.folding a towel on the table, C.slide the towel to the right, D.pour the water from one cup into another empty cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001416.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block on the block to the desk", "B.folding a towel on the table", "C.slide the towel to the right", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0001417", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the cup in the bowl, B.take out a Hanoi block and place it aside, C.place the black lid on the clear bottle on the right, D.hit the pool ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001417.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup in the bowl", "B.take out a Hanoi block and place it aside", "C.place the black lid on the clear bottle on the right", "D.hit the pool ball" ] }, { "task_id": "0001418", "task": "TrajChoice", "id": "RH20T_cfg1_task_0031_user_0001_scene_0003_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the yellow object on the table, B.cover the box, C.move the blue cup into the blue bowl, move the tweezers into the blue cup, D.put the fabric on the cushion], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001418.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the yellow object on the table", "B.cover the box", "C.move the blue cup into the blue bowl, move the tweezers into the blue cup", "D.put the fabric on the cushion" ] }, { "task_id": "0001419", "task": "TrajChoice", "id": "RH20T_cfg3_task_0086_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wave the flag, B.use the green cloth to wipe the surface, C.pick up the marker from the cup and put it on the table, D.dial a number on an old rotary phone] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001419.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.use the green cloth to wipe the surface", "C.pick up the marker from the cup and put it on the table", "D.dial a number on an old rotary phone" ] }, { "task_id": "0001420", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0020_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the switch of the extension cord, B.place the love-shaped object on the table, C.take the light blue shirt from the desk and put it into the box, then use a white cloth to wipe the desk, and place it into the box, D.pick up a small block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001420.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the switch of the extension cord", "B.place the love-shaped object on the table", "C.take the light blue shirt from the desk and put it into the box, then use a white cloth to wipe the desk, and place it into the box", "D.pick up a small block" ] }, { "task_id": "0001421", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.slide the bag on the table, B.plug in the power cord to the socket, C.pick up the bowl and move it to the right, D.press the button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001421.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the bag on the table", "B.plug in the power cord to the socket", "C.pick up the bowl and move it to the right", "D.press the button from top to bottom" ] }, { "task_id": "0001422", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the object on the blue shelf, B.use a wooden spatula to put the bread into the oven then close the oven door, C.take the cup off the cup rack, D.open the bottom drawer of the file cabinet to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001422.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the blue shelf", "B.use a wooden spatula to put the bread into the oven then close the oven door", "C.take the cup off the cup rack", "D.open the bottom drawer of the file cabinet to the right" ] }, { "task_id": "0001423", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the lid on the pot, B.insert the pencil into the pencil sharpener, C.remove the spoon from the white mug then put it on the table, D.pick up another cup in the cup and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001423.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the pot", "B.insert the pencil into the pencil sharpener", "C.remove the spoon from the white mug then put it on the table", "D.pick up another cup in the cup and place it on the table" ] }, { "task_id": "0001424", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the cup from the left side of the table and slightly move it to the right, B.take out a purple Hanoi block from the stacked blocks and place it on the table, C.put the pen into the pen holder, D.slide the towel to the left on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001424.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup from the left side of the table and slightly move it to the right", "B.take out a purple Hanoi block from the stacked blocks and place it on the table", "C.put the pen into the pen holder", "D.slide the towel to the left on the desk" ] }, { "task_id": "0001425", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the items from the cup into the bowl, B.stacking blocks, C.rotate the cup, D.slide the towel to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001425.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items from the cup into the bowl", "B.stacking blocks", "C.rotate the cup", "D.slide the towel to the right side of the table" ] }, { "task_id": "0001426", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the drawer, B.pick up the rope and arrange it straight on the object, C.put the glass cup on the right side of the table, D.close a sliding window], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001426.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer", "B.pick up the rope and arrange it straight on the object", "C.put the glass cup on the right side of the table", "D.close a sliding window" ] }, { "task_id": "0001427", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0012_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the first switch on the left, B.move the green square to the green bowl, C.scrubbing the table with a brush, D.put the lid on the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001427.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the first switch on the left", "B.move the green square to the green bowl", "C.scrubbing the table with a brush", "D.put the lid on the pot" ] }, { "task_id": "0001428", "task": "TrajChoice", "id": "RH20T_cfg1_task_0051_user_0010_scene_0007_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the dish off the dish rack, B.close the open cabinet, C.press the pump head, D.transfer the green aluminum can to the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001428.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.close the open cabinet", "C.press the pump head", "D.transfer the green aluminum can to the bowl" ] }, { "task_id": "0001429", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0017_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put one of the things on the table in the clear container, B.turn off the desk lamp by pressing the button, C.the pharmaceutical experiment will insert a medium pipette tip into the holder for medium pipette tips, D.put the pen from the cup onto the black mat], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001429.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put one of the things on the table in the clear container", "B.turn off the desk lamp by pressing the button", "C.the pharmaceutical experiment will insert a medium pipette tip into the holder for medium pipette tips", "D.put the pen from the cup onto the black mat" ] }, { "task_id": "0001430", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the pen from the mug cup and put it on the table, B.put the green block on top of the other green block, C.unfold the leg of the glasses (with one hand), D.place the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001430.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the mug cup and put it on the table", "B.put the green block on top of the other green block", "C.unfold the leg of the glasses (with one hand)", "D.place the lid on the pot" ] }, { "task_id": "0001431", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the block to the middle of the board, B.turn the knob, C.open the microwave, D.put the lid on the cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001431.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the block to the middle of the board", "B.turn the knob", "C.open the microwave", "D.put the lid on the cloth" ] }, { "task_id": "0001432", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put a slice of toast in the toaster, B.turn on the kettle, C.slide the gray towel to the left, D.move the block from the left side of the box to the right side of the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001432.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a slice of toast in the toaster", "B.turn on the kettle", "C.slide the gray towel to the left", "D.move the block from the left side of the box to the right side of the box" ] }, { "task_id": "0001433", "task": "TrajChoice", "id": "RH20T_cfg7_task_0052_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the green object upright in a clockwise direction, B.put the marker inside the blue and white box, C.mobile go, D.grab a basketball, release it and shoot it into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001433.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the green object upright in a clockwise direction", "B.put the marker inside the blue and white box", "C.mobile go", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0001434", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the small block on the left and move it to the right, B.take the bottle from the table and put it on the tray, C.turn off the desk lamp by pressing the button, D.pick up the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001434.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.take the bottle from the table and put it on the tray", "C.turn off the desk lamp by pressing the button", "D.pick up the cup" ] }, { "task_id": "0001436", "task": "TrajChoice", "id": "RH20T_cfg4_task_0029_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.uncover the pot on the table, B.put the lid on the device, C.remove the marker from the cup, D.grasp the handle and open the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001436.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.uncover the pot on the table", "B.put the lid on the device", "C.remove the marker from the cup", "D.grasp the handle and open the drawer" ] }, { "task_id": "0001437", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the small block on the left and move it to the right, B.remove the spoon from the red mug on the left and place it in the red bowl, C.put the shoes in the middle of the rack, D.water the plant] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001437.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.remove the spoon from the red mug on the left and place it in the red bowl", "C.put the shoes in the middle of the rack", "D.water the plant" ] }, { "task_id": "0001438", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block on the scale, B.after pouring the contents of the small cup into the white bowl, place the small cup on the table, C.adjust the placement of the object, D.put the glue stick inside the open drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001438.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.after pouring the contents of the small cup into the white bowl, place the small cup on the table", "C.adjust the placement of the object", "D.put the glue stick inside the open drawer" ] }, { "task_id": "0001439", "task": "TrajChoice", "id": "RH20T_cfg6_task_0045_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the button of the switch down, B.take the gray shovel from the pillar to the drawer, C.put the item on the left side of the table, D.pick up the brush from the desk and place it on the pen rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001439.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the button of the switch down", "B.take the gray shovel from the pillar to the drawer", "C.put the item on the left side of the table", "D.pick up the brush from the desk and place it on the pen rack" ] }, { "task_id": "0001440", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the box to the left, B.put the banana in the blue basket, C.take something out of a drawer, D.arrange the small pillow on the right side of the sofa] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001440.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the box to the left", "B.put the banana in the blue basket", "C.take something out of a drawer", "D.arrange the small pillow on the right side of the sofa" ] }, { "task_id": "0001441", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0001_cfg_0002_105422061350#272", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push the blocks to the right side of the table, B.take something out of a drawer, C.pour the contents in the plate into the cup, D.put the tape into the transparent box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001441.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the blocks to the right side of the table", "B.take something out of a drawer", "C.pour the contents in the plate into the cup", "D.put the tape into the transparent box" ] }, { "task_id": "0001442", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the tap, B.drag the plate back to the middle of the table, C.place the coffee cup upright, D.move the white mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001442.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the tap", "B.drag the plate back to the middle of the table", "C.place the coffee cup upright", "D.move the white mug" ] }, { "task_id": "0001443", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.align the blue towel with the plate, B.remove the white cloth from the glass panel, C.play the drum, D.press the display screen, adjust the height of the display screen] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001443.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.align the blue towel with the plate", "B.remove the white cloth from the glass panel", "C.play the drum", "D.press the display screen, adjust the height of the display screen" ] }, { "task_id": "0001444", "task": "TrajChoice", "id": "RH20T_cfg6_task_0016_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.hit the pool ball, B.the tank is placed on the pallet, C.put the block into the basket, D.remove the marker from the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001444.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.the tank is placed on the pallet", "C.put the block into the basket", "D.remove the marker from the mug" ] }, { "task_id": "0001445", "task": "TrajChoice", "id": "RH20T_cfg5_task_0028_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button on the microwave, B.fold the bath towel, C.fold the towel on the table, D.close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001445.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the microwave", "B.fold the bath towel", "C.fold the towel on the table", "D.close the drawer" ] }, { "task_id": "0001446", "task": "TrajChoice", "id": "RH20T_cfg7_task_0020_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up a small block, B.pour the contents in the white bowl on the right into the black pot, C.place the box in the black bin, D.shake the red flag] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001446.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.pour the contents in the white bowl on the right into the black pot", "C.place the box in the black bin", "D.shake the red flag" ] }, { "task_id": "0001447", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the block in the cup, B.press a button horizontally, C.take the lid off of the pot, D.remove the silver lid from the tin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001447.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block in the cup", "B.press a button horizontally", "C.take the lid off of the pot", "D.remove the silver lid from the tin" ] }, { "task_id": "0001448", "task": "TrajChoice", "id": "RH20T_cfg6_task_0017_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the clothes on the backrest of the chair, B.put the pen into the pen holder, C.move the marker to the right, D.move the paper away from the computer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001448.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the clothes on the backrest of the chair", "B.put the pen into the pen holder", "C.move the marker to the right", "D.move the paper away from the computer" ] }, { "task_id": "0001449", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker in the cup, B.remove the smaller towel from the hamper and put it on the armrest, C.drag the plate to the goal post after holding it down, D.move the yellow object backwards], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001449.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.remove the smaller towel from the hamper and put it on the armrest", "C.drag the plate to the goal post after holding it down", "D.move the yellow object backwards" ] }, { "task_id": "0001450", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.cover the pot, C.take the towel off the spoon and put the spoon into the cup, D.hang the cloth on the clear screen] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001450.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.cover the pot", "C.take the towel off the spoon and put the spoon into the cup", "D.hang the cloth on the clear screen" ] }, { "task_id": "0001451", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the brush on the pen rack, B.fold the white from right to left, C.move the bucket to the right, D.move the object from the original position to the specified position on the surface] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001451.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.fold the white from right to left", "C.move the bucket to the right", "D.move the object from the original position to the specified position on the surface" ] }, { "task_id": "0001452", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the dish off the dish rack, B.pick up the cup and put it on the counter, C.put the things in the drawer, D.pick up the marker from the bowl and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001452.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.pick up the cup and put it on the counter", "C.put the things in the drawer", "D.pick up the marker from the bowl and place it on the table" ] }, { "task_id": "0001453", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0005_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.align the rope along the edge of the black object, B.grab a basketball, release it and shoot it into the basket, C.pick up the bottle and place it in a lying down position, D.move the lid and place the lid into the container with the brown object] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001453.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.align the rope along the edge of the black object", "B.grab a basketball, release it and shoot it into the basket", "C.pick up the bottle and place it in a lying down position", "D.move the lid and place the lid into the container with the brown object" ] }, { "task_id": "0001454", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the mug to the left, B.hang the white cloth on the stand, C.the object moves onto the green object, D.use the gripper to push the small block from left to right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001454.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug to the left", "B.hang the white cloth on the stand", "C.the object moves onto the green object", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0001455", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the blue object inside the wooden box, B.press the button from top to bottom, C.swat with a flyswatter, D.put the toy banana on the wooden board] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001455.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object inside the wooden box", "B.press the button from top to bottom", "C.swat with a flyswatter", "D.put the toy banana on the wooden board" ] }, { "task_id": "0001456", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use the towel in the center to wipe the table, B.put the cup on the cup rack, C.move the pen forward, D.take the lid off the wok and place it on the right counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001456.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel in the center to wipe the table", "B.put the cup on the cup rack", "C.move the pen forward", "D.take the lid off the wok and place it on the right counter" ] }, { "task_id": "0001457", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put things in the drawer, B.turn the chandelier switch to turn off the light, C.slide the outer casing onto the gift box, D.transfer the beverage from the countertop to the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001457.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put things in the drawer", "B.turn the chandelier switch to turn off the light", "C.slide the outer casing onto the gift box", "D.transfer the beverage from the countertop to the bowl" ] }, { "task_id": "0001458", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0005_cfg_0004_104122062823#196", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the Sprite can on the shelf, B.after opening the lid of the kettle, close it, C.put things in the drawer, D.move the can to the pallet] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001458.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the Sprite can on the shelf", "B.after opening the lid of the kettle, close it", "C.put things in the drawer", "D.move the can to the pallet" ] }, { "task_id": "0001459", "task": "TrajChoice", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stack the blocks in a vertical line of five, B.move the scissors from the desk to the clear container on the right, C.cover the white cup, D.turn on the tap handle for hot water], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001459.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the blocks in a vertical line of five", "B.move the scissors from the desk to the clear container on the right", "C.cover the white cup", "D.turn on the tap handle for hot water" ] }, { "task_id": "0001460", "task": "TrajChoice", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#234", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the spoon in the bowl, B.put the things in the drawer, C.stack the blocks in a vertical line of five, D.grab the block and place it at the designated location], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001460.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon in the bowl", "B.put the things in the drawer", "C.stack the blocks in a vertical line of five", "D.grab the block and place it at the designated location" ] }, { "task_id": "0001461", "task": "TrajChoice", "id": "RH20T_cfg3_task_0037_user_0010_scene_0007_cfg_0003_104122062823#475", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move from the brown chair to the armrest of the black chair, B.open the drawer and push the green towel on the right, C.close the microwave door, D.stack the blocks in a vertical line of five] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001461.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move from the brown chair to the armrest of the black chair", "B.open the drawer and push the green towel on the right", "C.close the microwave door", "D.stack the blocks in a vertical line of five" ] }, { "task_id": "0001462", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the tongs forward, B.open the drawer on the left, C.move the lid from the frying pan to the small black pot, D.Insert the tip of a large pipette into the holder for large pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001462.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tongs forward", "B.open the drawer on the left", "C.move the lid from the frying pan to the small black pot", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0001463", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up a bag of things, B.pick up the eyeglasses case and put it near the keyboard, C.move the mug to the left back, D.move the white container to the right side of the toaster], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001463.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.pick up the eyeglasses case and put it near the keyboard", "C.move the mug to the left back", "D.move the white container to the right side of the toaster" ] }, { "task_id": "0001464", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the cup on the desk into the cabinet, B.put the knife on the knife rack, C.transfer the cloth from the bowl to the countertop, D.pour the contents from the orange cup into the gray bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001464.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup on the desk into the cabinet", "B.put the knife on the knife rack", "C.transfer the cloth from the bowl to the countertop", "D.pour the contents from the orange cup into the gray bowl" ] }, { "task_id": "0001465", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the blue ring into the storage box, B.turn the hands of a clock, C.put the black marker in the white mug cup, D.pull the storage basket to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001465.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue ring into the storage box", "B.turn the hands of a clock", "C.put the black marker in the white mug cup", "D.pull the storage basket to the right" ] }, { "task_id": "0001466", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cup on the plate, B.open a box, C.press the microwave button to turn it on, D.pour the contents in the transparent cup into the black pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001466.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the plate", "B.open a box", "C.press the microwave button to turn it on", "D.pour the contents in the transparent cup into the black pot" ] }, { "task_id": "0001467", "task": "TrajChoice", "id": "RH20T_cfg5_task_0096_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take something out of a drawer, B.put the rubber duck in the pot, C.pull the rope straight onto the black object, D.unscrew the lid from the jar], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001467.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.put the rubber duck in the pot", "C.pull the rope straight onto the black object", "D.unscrew the lid from the jar" ] }, { "task_id": "0001468", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the marker from the cup and place it on the table, B.move the block, C.put the clothes on the table, then put the clothes in the box, D.press the button from top to bottom] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001468.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the cup and place it on the table", "B.move the block", "C.put the clothes on the table, then put the clothes in the box", "D.press the button from top to bottom" ] }, { "task_id": "0001469", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the lid on the electric kettle, B.use the gripper to push the small block from left to right, C.put the white doll in the silver pot, D.move the towel closer to me], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001469.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid on the electric kettle", "B.use the gripper to push the small block from left to right", "C.put the white doll in the silver pot", "D.move the towel closer to me" ] }, { "task_id": "0001470", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pen into the pen holder, B.pick up the vial and put it on the book, C.moving the bowl from the white tray to the empty gas stove on the left, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001470.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.pick up the vial and put it on the book", "C.moving the bowl from the white tray to the empty gas stove on the left", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0001471", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the pineapple plush toy in the black pot, B.pick up a small block, C.rotate the first foosball rod anticlockwise, D.folded shirt] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001471.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pineapple plush toy in the black pot", "B.pick up a small block", "C.rotate the first foosball rod anticlockwise", "D.folded shirt" ] }, { "task_id": "0001472", "task": "TrajChoice", "id": "RH20T_cfg7_task_0017_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the pan to the left, B.place the snack bar onto the shelf, C.put the pen into the pen holder, D.open the coffeemaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001472.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pan to the left", "B.place the snack bar onto the shelf", "C.put the pen into the pen holder", "D.open the coffeemaker" ] }, { "task_id": "0001473", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press a button from top to bottom, B.put the yellow block in the cup, C.put the pan on the stove, D.hang the blue clip on the wooden stand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001473.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom", "B.put the yellow block in the cup", "C.put the pan on the stove", "D.hang the blue clip on the wooden stand" ] }, { "task_id": "0001474", "task": "TrajChoice", "id": "RH20T_cfg1_task_0109_user_0015_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the object from the sink on the tray, B.insert the pencil into the pencil sharpener, C.put the sunglasses into the plate, D.pick up the blue object and put it in an upright position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001474.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object from the sink on the tray", "B.insert the pencil into the pencil sharpener", "C.put the sunglasses into the plate", "D.pick up the blue object and put it in an upright position" ] }, { "task_id": "0001475", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open a box, B.close the cabinet door, C.close the open drawer, D.pick up the plush toy from the desk and move it to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001475.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.close the cabinet door", "C.close the open drawer", "D.pick up the plush toy from the desk and move it to the left" ] }, { "task_id": "0001476", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull the curtain to the right, B.screw the lid onto the jar (needs to be rotated), C.move the two bags that are hanging on the right hook to the left shelf, D.put the fork into the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001476.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the curtain to the right", "B.screw the lid onto the jar (needs to be rotated)", "C.move the two bags that are hanging on the right hook to the left shelf", "D.put the fork into the mug" ] }, { "task_id": "0001477", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button from top to bottom, B.take out a crayon from the box and place it on the table, C.put the cup on the cup rack, D.push the soccer ball into the goal] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001477.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.take out a crayon from the box and place it on the table", "C.put the cup on the cup rack", "D.push the soccer ball into the goal" ] }, { "task_id": "0001478", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0005_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.close the microwave door, B.hang the white towel on the black stand, C.put the cup in the other cup, D.put the toilet paper on its holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001478.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.hang the white towel on the black stand", "C.put the cup in the other cup", "D.put the toilet paper on its holder" ] }, { "task_id": "0001479", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0014_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the photo frame on the bracket, B.taking out the light bulb by rotating it, C.press the remote control button, D.flip the switch on the wall] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001479.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the photo frame on the bracket", "B.taking out the light bulb by rotating it", "C.press the remote control button", "D.flip the switch on the wall" ] }, { "task_id": "0001480", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the object from the mug and put it on the table, B.turn off the desk lamp by pressing the button, C.put the items in the box, D.put the green ring on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001480.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object from the mug and put it on the table", "B.turn off the desk lamp by pressing the button", "C.put the items in the box", "D.put the green ring on the table" ] }, { "task_id": "0001481", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.transfer the remote control in the middle of the pillow to the bed, B.pick up the cup, C.move the colander, D.move the small block on the desktop to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001481.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the remote control in the middle of the pillow to the bed", "B.pick up the cup", "C.move the colander", "D.move the small block on the desktop to the left" ] }, { "task_id": "0001482", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the drawer, put things in the drawer and then close the drawer, B.pick up the object from the table and put it in the carton box, C.move the marker slightly to the right, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001482.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer, put things in the drawer and then close the drawer", "B.pick up the object from the table and put it in the carton box", "C.move the marker slightly to the right", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001483", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.insert the ring into the post, B.use the towel to wipe the grey plate, C.turn on the water tap, D.press the button from top to bottom] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001483.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the ring into the post", "B.use the towel to wipe the grey plate", "C.turn on the water tap", "D.press the button from top to bottom" ] }, { "task_id": "0001484", "task": "TrajChoice", "id": "RH20T_cfg3_task_0008_user_0016_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the marker out of the cup and put it on the table, B.grab the block and place it at the designated location, C.remove the clothes from the basket, D.pulling the sheets on the bed] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001484.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup and put it on the table", "B.grab the block and place it at the designated location", "C.remove the clothes from the basket", "D.pulling the sheets on the bed" ] }, { "task_id": "0001485", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the bottle from the windowsill to the tabletop, B.Assemble: Attach the bubble ring to the ball, C.put the marker inside the bowl, D.transfer the toy from the block pile to the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001485.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bottle from the windowsill to the tabletop", "B.Assemble: Attach the bubble ring to the ball", "C.put the marker inside the bowl", "D.transfer the toy from the block pile to the bowl" ] }, { "task_id": "0001486", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0006_cfg_0004_104122062823#207", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn off the overhead light, B.unfold the towel on the desk, C.moving the cup from the sink to the dish rack, D.Assemble: Attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001486.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the overhead light", "B.unfold the towel on the desk", "C.moving the cup from the sink to the dish rack", "D.Assemble: Attach the bubble ring to the ball" ] }, { "task_id": "0001487", "task": "TrajChoice", "id": "RH20T_cfg2_task_0045_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the brush on the pen rack, B.move the cup to the specified position, C.move the blue cable to the left, D.hang the cloth on the stand] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001487.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.move the cup to the specified position", "C.move the blue cable to the left", "D.hang the cloth on the stand" ] }, { "task_id": "0001488", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grab the block and place it at the designated location, B.move the paper cup on the table to the new position on the right, C.take the transparent box to below the white object, D.pick up the clothes and items from the box in turn and put them into the bag], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001488.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.move the paper cup on the table to the new position on the right", "C.take the transparent box to below the white object", "D.pick up the clothes and items from the box in turn and put them into the bag" ] }, { "task_id": "0001489", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pen into the pen holder, B.operate the circular ring to cover the pillar, C.take a knife from the rack and put it in the cup in the sink, D.press the top of the bottle to open] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001489.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.operate the circular ring to cover the pillar", "C.take a knife from the rack and put it in the cup in the sink", "D.press the top of the bottle to open" ] }, { "task_id": "0001490", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn on the light, B.fold the towel, C.stack the hats on the bed, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001490.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light", "B.fold the towel", "C.stack the hats on the bed", "D.play the drum" ] }, { "task_id": "0001491", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the spatula from the counter and put it in the utensil holder, B.fold the towel, C.insert the paper towel roll onto the shelf, D.stacking blocks (small Lego) one on top of the other every time] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001491.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the spatula from the counter and put it in the utensil holder", "B.fold the towel", "C.insert the paper towel roll onto the shelf", "D.stacking blocks (small Lego) one on top of the other every time" ] }, { "task_id": "0001492", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold a piece of paper that has been folded once (one end is pressed down by a heavy object), B.pour the contents from the orange cup into the green bowl, C.remove the green can from the sink, D.put the box in the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001492.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once (one end is pressed down by a heavy object)", "B.pour the contents from the orange cup into the green bowl", "C.remove the green can from the sink", "D.put the box in the basket" ] }, { "task_id": "0001493", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the light button on the smoking machine, B.put the bowl in the bowl, C.water the plant, D.pour the water from the cup into the pot, put the blocks into the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001493.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the light button on the smoking machine", "B.put the bowl in the bowl", "C.water the plant", "D.pour the water from the cup into the pot, put the blocks into the pot" ] }, { "task_id": "0001494", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.holding a small block with the gripper and sweeping it from left to right on the table, B.move the blue can to the right, C.put the marker into the mug, D.press the button on the far right of the power strip], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001494.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.holding a small block with the gripper and sweeping it from left to right on the table", "B.move the blue can to the right", "C.put the marker into the mug", "D.press the button on the far right of the power strip" ] }, { "task_id": "0001495", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the object from the scale, B.move the t-shirts and the yellow towel from the backrest of the grey chair to the brown box, C.move the green object to the right, D.stack the black bins together], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001495.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.move the t-shirts and the yellow towel from the backrest of the grey chair to the brown box", "C.move the green object to the right", "D.stack the black bins together" ] }, { "task_id": "0001496", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the blue object in the open drawer then close the drawer, B.sharpen the pencil with a pencil sharpener, C.chop the onions, D.place the measuring tape on the right side of the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001496.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object in the open drawer then close the drawer", "B.sharpen the pencil with a pencil sharpener", "C.chop the onions", "D.place the measuring tape on the right side of the desk" ] }, { "task_id": "0001497", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unscrew the lid from the jar, B.put the cup on the table, C.put the marker in the mug, D.press the button on the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001497.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.put the cup on the table", "C.put the marker in the mug", "D.press the button on the scale" ] }, { "task_id": "0001498", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.hit the pool ball, B.place the bottle on the right side of the sink's countertop, C.move the cloth, D.place the marker inside the green and white mug] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001498.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.place the bottle on the right side of the sink's countertop", "C.move the cloth", "D.place the marker inside the green and white mug" ] }, { "task_id": "0001499", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.stacking the cups, B.place the handset of the telephone on the corresponding phone cradle, C.press the button on the wall, D.place the cup on the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001499.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking the cups", "B.place the handset of the telephone on the corresponding phone cradle", "C.press the button on the wall", "D.place the cup on the towel" ] }, { "task_id": "0001500", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the green cube and put it in the black bowl, B.turn on the desk lamp by pressing the button, C.place the blue blanket on the blanket, D.hang the towel on top of the transparent thing], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001500.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green cube and put it in the black bowl", "B.turn on the desk lamp by pressing the button", "C.place the blue blanket on the blanket", "D.hang the towel on top of the transparent thing" ] }, { "task_id": "0001501", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the red object on the left in the sink, B.installing the light bulb by rotating it, C.take the shoes on the second layer of the shoe rack to the first layer of the shoe rack, D.switch off the stove light], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001501.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red object on the left in the sink", "B.installing the light bulb by rotating it", "C.take the shoes on the second layer of the shoe rack to the first layer of the shoe rack", "D.switch off the stove light" ] }, { "task_id": "0001502", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the block on the scale, B.pick up the lid from the desk and place it on the silver kettle, C.push down the lever on the toaster, D.pull the faucet from the left side to the right side] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001502.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.pick up the lid from the desk and place it on the silver kettle", "C.push down the lever on the toaster", "D.pull the faucet from the left side to the right side" ] }, { "task_id": "0001503", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the green object and put it in the bowl, B.move the screwdriver from the table to the kitchen towel on the table and place it down, C.pick up the silver pen from the silver container and put it on the table, D.plug in the USB drive to the docking station] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001503.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green object and put it in the bowl", "B.move the screwdriver from the table to the kitchen towel on the table and place it down", "C.pick up the silver pen from the silver container and put it on the table", "D.plug in the USB drive to the docking station" ] }, { "task_id": "0001504", "task": "TrajChoice", "id": "RH20T_cfg6_task_0067_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the pen from the bowl and put it on the table, B.move the grey towel to the right, C.transfer the cup from the white cup to the table, D.press a button from top to bottom with obstacles], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001504.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the bowl and put it on the table", "B.move the grey towel to the right", "C.transfer the cup from the white cup to the table", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0001505", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the orange object and put it in the cup, B.press the button on the kettle, C.place the Coca-Cola bottle on top of the microwave, D.take out a Hanoi block and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001505.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange object and put it in the cup", "B.press the button on the kettle", "C.place the Coca-Cola bottle on top of the microwave", "D.take out a Hanoi block and place it on the table" ] }, { "task_id": "0001506", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the cap upside down, B.move the tap nozzle to the right, C.push the drawer to close it, D.push the storage box into the side of the cabinet] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001506.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the cap upside down", "B.move the tap nozzle to the right", "C.push the drawer to close it", "D.push the storage box into the side of the cabinet" ] }, { "task_id": "0001507", "task": "TrajChoice", "id": "RH20T_cfg5_task_0067_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the left ball in the cup, B.move the lid from the table to the pot, C.put the lid on the glass jar, D.press a button from top to bottom] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001507.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the left ball in the cup", "B.move the lid from the table to the pot", "C.put the lid on the glass jar", "D.press a button from top to bottom" ] }, { "task_id": "0001508", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the small block on the left and move it to the right, B.place the bottle on the right into the bottle rack, C.pull up the lever, D.put the pen on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001508.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.place the bottle on the right into the bottle rack", "C.pull up the lever", "D.put the pen on the table" ] }, { "task_id": "0001509", "task": "TrajChoice", "id": "RH20T_cfg5_task_0100_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the lid of the pot on the table, B.move the piece of paper forward, C.stir the beaker with a glass rod, D.pour the potato fries from the pot into the serving plate] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001509.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid of the pot on the table", "B.move the piece of paper forward", "C.stir the beaker with a glass rod", "D.pour the potato fries from the pot into the serving plate" ] }, { "task_id": "0001510", "task": "TrajChoice", "id": "RH20T_cfg5_task_0080_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the black masking tape on the plate, B.turn the paper over and place it with the reverse side facing up on the table, C.pick up the orange shirt and put it on the chair, D.put the transparent cup under the water dispenser], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001510.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black masking tape on the plate", "B.turn the paper over and place it with the reverse side facing up on the table", "C.pick up the orange shirt and put it on the chair", "D.put the transparent cup under the water dispenser" ] }, { "task_id": "0001511", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push and close the drawer, B.turn the cup in the oven upside down, C.take the blue cup from the second shelf of the cabinet and put it on the top shelf, D.put the paper cup at the water dispenser to get water] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001511.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.turn the cup in the oven upside down", "C.take the blue cup from the second shelf of the cabinet and put it on the top shelf", "D.put the paper cup at the water dispenser to get water" ] }, { "task_id": "0001512", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the black rack around, B.open the grey coffeemaker, C.put the yellow cup on the toaster, D.put things in the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001512.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the black rack around", "B.open the grey coffeemaker", "C.put the yellow cup on the toaster", "D.put things in the drawer" ] }, { "task_id": "0001513", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0001_cfg_0002_105422061350#226", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the lid from the pot to the rack, B.put the marker pen and the towel into the box, C.put the object into the cup, D.put things in the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001513.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the lid from the pot to the rack", "B.put the marker pen and the towel into the box", "C.put the object into the cup", "D.put things in the drawer" ] }, { "task_id": "0001514", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the contents in the red packaging bag onto the white plate, then throw the packaging bag into the trash, B.place the black clothing on the backrest of the grey chair, C.push the first foosball handle from the right inwards, D.grasp one block to sweep the other block into the designated position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001514.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the contents in the red packaging bag onto the white plate, then throw the packaging bag into the trash", "B.place the black clothing on the backrest of the grey chair", "C.push the first foosball handle from the right inwards", "D.grasp one block to sweep the other block into the designated position" ] }, { "task_id": "0001515", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.rotate the first rod on the foosball table clockwise, B.put the ball in the blue container, C.turn the knob to increase the volume of the speaker, D.move the pot on the microwave to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001515.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the first rod on the foosball table clockwise", "B.put the ball in the blue container", "C.turn the knob to increase the volume of the speaker", "D.move the pot on the microwave to the left" ] }, { "task_id": "0001516", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the lid on the bottle, B.the white shorts on the folding bed, C.take the block from the desk and place it on the scale, D.place the first cup above the two cups on the right, stack the leftmost cup on top of the first cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001516.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the bottle", "B.the white shorts on the folding bed", "C.take the block from the desk and place it on the scale", "D.place the first cup above the two cups on the right, stack the leftmost cup on top of the first cup" ] }, { "task_id": "0001517", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the block above the block on the table, B.turn on the desk lamp by pressing the button on the desk lamp, C.put the cup into the bowl, D.put the marker in the blue cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001517.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block above the block on the table", "B.turn on the desk lamp by pressing the button on the desk lamp", "C.put the cup into the bowl", "D.put the marker in the blue cup" ] }, { "task_id": "0001518", "task": "TrajChoice", "id": "RH20T_cfg1_task_0108_user_0014_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.sharpen the pencil with a pencil sharpener, B.put the pen on the cup, C.put the transparent cup on the desktop onto the gray cloth, D.set the metal bottle upright on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001518.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sharpen the pencil with a pencil sharpener", "B.put the pen on the cup", "C.put the transparent cup on the desktop onto the gray cloth", "D.set the metal bottle upright on the table" ] }, { "task_id": "0001519", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0001_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.screw the lid onto the jar (needs to be twisted), B.wipe the table with a cloth, C.put the pen into the pen holder, D.remove the lid from the black pot], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001519.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar (needs to be twisted)", "B.wipe the table with a cloth", "C.put the pen into the pen holder", "D.remove the lid from the black pot" ] }, { "task_id": "0001520", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slide the grey towel on the table, B.move the packaging bag into the oven, C.put the pen into the pen holder, D.close the refrigerator door] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001520.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the grey towel on the table", "B.move the packaging bag into the oven", "C.put the pen into the pen holder", "D.close the refrigerator door" ] }, { "task_id": "0001521", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0014_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the block to the upper left of the table, B.pick up the towel and put it on the rack, C.turn on the second switch from the left side of the adapter, D.turn the hands of a clock] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001521.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the block to the upper left of the table", "B.pick up the towel and put it on the rack", "C.turn on the second switch from the left side of the adapter", "D.turn the hands of a clock" ] }, { "task_id": "0001522", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the marker from the cup and put it on the table, B.put the yellow block in the pot, C.open the microwave door, D.water the plant] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001522.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the cup and put it on the table", "B.put the yellow block in the pot", "C.open the microwave door", "D.water the plant" ] }, { "task_id": "0001523", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0021_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.lift the lid of the bucket, B.grasp the moving object, C.use the white and red towel to wipe the table top, D.place two empty water bottles from the right side of the counter into the bin on the floor] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001523.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lift the lid of the bucket", "B.grasp the moving object", "C.use the white and red towel to wipe the table top", "D.place two empty water bottles from the right side of the counter into the bin on the floor" ] }, { "task_id": "0001524", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the drum, B.put the silver lid on the table, C.move the spoon from the bowl to the cup, D.pick up the cable and put it in the tool box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001524.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.put the silver lid on the table", "C.move the spoon from the bowl to the cup", "D.pick up the cable and put it in the tool box" ] }, { "task_id": "0001525", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the green bowl to the left, B.turn the knob to adjust the volume of the speaker, C.put the lid on the table, D.get the egg on the table and put it in the silver bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001525.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green bowl to the left", "B.turn the knob to adjust the volume of the speaker", "C.put the lid on the table", "D.get the egg on the table and put it in the silver bowl" ] }, { "task_id": "0001526", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the block on the table, B.place the orange can north of the green cup, C.press the button at the top of the machine, D.rotate the steering wheel 90 degrees clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001526.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the block on the table", "B.place the orange can north of the green cup", "C.press the button at the top of the machine", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0001527", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the bowl from the table into another bowl, B.place the spoon on the table, C.place the iron upright on the board, D.pick up and place an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001527.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the bowl from the table into another bowl", "B.place the spoon on the table", "C.place the iron upright on the board", "D.pick up and place an object with obstacles" ] }, { "task_id": "0001528", "task": "TrajChoice", "id": "RH20T_cfg5_task_0120_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.wipe the counter with the grey towel, B.installing a light bulb by rotating it, C.put the objects on the table into the drawer, D.put the rubber band around the jar], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001528.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the counter with the grey towel", "B.installing a light bulb by rotating it", "C.put the objects on the table into the drawer", "D.put the rubber band around the jar" ] }, { "task_id": "0001529", "task": "TrajChoice", "id": "RH20T_cfg6_task_0051_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the towel on the black object on the table, B.push the block to the right side of the table, C.take the dish off the dish rack, D.put the pink shirt on the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001529.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the black object on the table", "B.push the block to the right side of the table", "C.take the dish off the dish rack", "D.put the pink shirt on the chair" ] }, { "task_id": "0001530", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the pen from the cup and put it on the table, B.unfold the green cloth once, C.play the drum, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001530.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the table", "B.unfold the green cloth once", "C.play the drum", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0001531", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the lid on the pot, B.put the building blocks in the drawer, C.pick up the object on the counter and put it in the cabinet on the second shelf, D.take the pen out of the cup and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001531.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the pot", "B.put the building blocks in the drawer", "C.pick up the object on the counter and put it in the cabinet on the second shelf", "D.take the pen out of the cup and put it on the table" ] }, { "task_id": "0001532", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the trousers on the folding table, B.transfer the lid from the pot to the rack, C.put the cup in the bowl, D.plug in the bulb holder to the socket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001532.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the trousers on the folding table", "B.transfer the lid from the pot to the rack", "C.put the cup in the bowl", "D.plug in the bulb holder to the socket" ] }, { "task_id": "0001533", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.assemble: attach the bubble ring to the outside of the ball, B.throw an object picked up from the right side of the desk into the trash can, C.move the green rectangular block to the right side of the table, D.pour the contents in the orange cup into the green bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001533.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the outside of the ball", "B.throw an object picked up from the right side of the desk into the trash can", "C.move the green rectangular block to the right side of the table", "D.pour the contents in the orange cup into the green bowl" ] }, { "task_id": "0001534", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the roll of paper down from the shelf, B.use a cloth to wipe the pan, C.press the button on the electric kettle to open the lid, D.pour the contents of the plastic cup into the clear cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001534.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.use a cloth to wipe the pan", "C.press the button on the electric kettle to open the lid", "D.pour the contents of the plastic cup into the clear cup" ] }, { "task_id": "0001535", "task": "TrajChoice", "id": "RH20T_cfg6_task_0205_user_0007_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.folding the towel on the table, B.pick up the lid from the table and put it on the pot, C.push the chair to the left, D.chop the scallions] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001535.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding the towel on the table", "B.pick up the lid from the table and put it on the pot", "C.push the chair to the left", "D.chop the scallions" ] }, { "task_id": "0001536", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the tall cylinder object from the right side to the left side, B.pick up the yellow cup and put it inside the orange container, C.move the green and white pump bottles to the left side of the counter, D.stacking blocks (small Lego) is done randomly one at a time] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001536.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tall cylinder object from the right side to the left side", "B.pick up the yellow cup and put it inside the orange container", "C.move the green and white pump bottles to the left side of the counter", "D.stacking blocks (small Lego) is done randomly one at a time" ] }, { "task_id": "0001537", "task": "TrajChoice", "id": "RH20T_cfg4_task_0029_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.dismantle the vacuum head, B.open the microwave and push the black cup to the right, C.pull the upper handle of the drawer to the open position, D.pick up the transparent cup on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001537.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.dismantle the vacuum head", "B.open the microwave and push the black cup to the right", "C.pull the upper handle of the drawer to the open position", "D.pick up the transparent cup on the table" ] }, { "task_id": "0001540", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.hit the pool ball, B.pulling the zipper on the black clothing, C.remove the knife from the drying rack and place it on the cutlery rack, D.close the lid of the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001540.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.pulling the zipper on the black clothing", "C.remove the knife from the drying rack and place it on the cutlery rack", "D.close the lid of the cup" ] }, { "task_id": "0001542", "task": "TrajChoice", "id": "RH20T_cfg7_task_0063_user_0020_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow cup on the dishrack, B.use a shovel to scoop up an object, C.remove one small packet from the basket, D.close the top drawer on the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001542.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow cup on the dishrack", "B.use a shovel to scoop up an object", "C.remove one small packet from the basket", "D.close the top drawer on the right" ] }, { "task_id": "0001543", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the object from the scale, B.rotate the steering wheel clockwise, C.place the tongs inside the cup, D.chop the scallions], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001543.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.rotate the steering wheel clockwise", "C.place the tongs inside the cup", "D.chop the scallions" ] }, { "task_id": "0001544", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.unscrew the lid from the jar, B.put the coca-cola bottle in the bag, C.put the red marker inside the white mug, D.move the cloth to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001544.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.put the coca-cola bottle in the bag", "C.put the red marker inside the white mug", "D.move the cloth to the right" ] }, { "task_id": "0001545", "task": "TrajChoice", "id": "RH20T_cfg5_task_0029_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the towel to the right, B.take the kettle from the desk and place it on the base, C.take the marker out of the cup and put it on the table, D.open the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001545.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel to the right", "B.take the kettle from the desk and place it on the base", "C.take the marker out of the cup and put it on the table", "D.open the drawer" ] }, { "task_id": "0001546", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button under the counter, B.scoop the contents from the pot into the black bowl with a spoon, C.open a box, D.take the dish off the dish rack and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001546.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button under the counter", "B.scoop the contents from the pot into the black bowl with a spoon", "C.open a box", "D.take the dish off the dish rack and place it on the table" ] }, { "task_id": "0001547", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the desk lamp by pressing the button, B.take the dish off the dish rack and place it on another dish, C.place the marker on the table, D.move the object onto the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001547.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.take the dish off the dish rack and place it on another dish", "C.place the marker on the table", "D.move the object onto the plate" ] }, { "task_id": "0001548", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the white bar of soap forward, B.turn the object on the arm of the sofa towards the left, C.pick up the small block on the left and move it to the right, D.pick up the yellow bell pepper from the bowl and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001548.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white bar of soap forward", "B.turn the object on the arm of the sofa towards the left", "C.pick up the small block on the left and move it to the right", "D.pick up the yellow bell pepper from the bowl and put it on the table" ] }, { "task_id": "0001549", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.play the drum and place the drumsticks on the drumhead, B.put the star toy into the green bowl, C.folding the towels in the wardrobe, D.place the black lid on top of the white spray can], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001549.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum and place the drumsticks on the drumhead", "B.put the star toy into the green bowl", "C.folding the towels in the wardrobe", "D.place the black lid on top of the white spray can" ] }, { "task_id": "0001550", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the clothing on the denim trousers, B.move a small block held in hand from above the table to below the table, C.put the white plate from the countertop into the dishwasher, D.put the mug in the sink, add some water to it, and then turn off the tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001550.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothing on the denim trousers", "B.move a small block held in hand from above the table to below the table", "C.put the white plate from the countertop into the dishwasher", "D.put the mug in the sink, add some water to it, and then turn off the tap" ] }, { "task_id": "0001551", "task": "TrajChoice", "id": "RH20T_cfg2_task_0003_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the sponge into the pool, B.remove the pen from the cup and put it on the table, C.press the green button on the left, D.wipe the wall with a towel] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001551.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the sponge into the pool", "B.remove the pen from the cup and put it on the table", "C.press the green button on the left", "D.wipe the wall with a towel" ] }, { "task_id": "0001552", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the small wooden block from the scale to the table, B.swat with a flyswatter, C.put the tongs in the drawer, D.pick up the orange cup and place it in the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001552.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the small wooden block from the scale to the table", "B.swat with a flyswatter", "C.put the tongs in the drawer", "D.pick up the orange cup and place it in the black bowl" ] }, { "task_id": "0001553", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.after moving the grey hat from the pile of hats to the windowsill and putting it back to the pile of hats, B.put the marker on the table, C.grasp the handle and close the drawer, D.turn off the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001553.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.after moving the grey hat from the pile of hats to the windowsill and putting it back to the pile of hats", "B.put the marker on the table", "C.grasp the handle and close the drawer", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0001555", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the object into the cup, B.put the marker inside the mug cup, C.remove the clothes out of the laundry basket, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001555.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the cup", "B.put the marker inside the mug cup", "C.remove the clothes out of the laundry basket", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001556", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the paper from the pile to the desk, B.drag the plate back after holding it down, C.grasp a small block to sweep another small block into the designated position, D.take the cloth and wipe the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001556.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the paper from the pile to the desk", "B.drag the plate back after holding it down", "C.grasp a small block to sweep another small block into the designated position", "D.take the cloth and wipe the plate" ] }, { "task_id": "0001557", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull out a napkin, B.moving the kettle from the right side of the counter to the left side of the counter, C.pressing the keys of the piano, D.put the knife on the knife rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001557.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.moving the kettle from the right side of the counter to the left side of the counter", "C.pressing the keys of the piano", "D.put the knife on the knife rack" ] }, { "task_id": "0001562", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.drag the plate back after holding it down, B.open the curtain, C.open the tap faucet, D.place the box on the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001562.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate back after holding it down", "B.open the curtain", "C.open the tap faucet", "D.place the box on the right side of the table" ] }, { "task_id": "0001563", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.play the drum, B.move the brown cup to the right, C.slide the white cloth on the table to clean the desktop, D.move the black and white blocks to another pile on the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001563.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.move the brown cup to the right", "C.slide the white cloth on the table to clean the desktop", "D.move the black and white blocks to another pile on the left" ] }, { "task_id": "0001565", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the black cloth from the chair back to the box, B.push down the toaster lever, C.turn off the left light switch, D.turn on the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001565.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black cloth from the chair back to the box", "B.push down the toaster lever", "C.turn off the left light switch", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001566", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the handset of the telephone on the corresponding phone cradle, B.put the pen in the bowl, C.use the yellow towel to wipe the table, D.place the yellow square inside the blue cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001566.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.put the pen in the bowl", "C.use the yellow towel to wipe the table", "D.place the yellow square inside the blue cup" ] }, { "task_id": "0001567", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the jar to the right and put the lid on the jar, B.move the wooden block from the pink box to the black box, C.take the can out of the sink and place it on the countertop, D.plug in the USB drive to the docking station], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001567.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the jar to the right and put the lid on the jar", "B.move the wooden block from the pink box to the black box", "C.take the can out of the sink and place it on the countertop", "D.plug in the USB drive to the docking station" ] }, { "task_id": "0001568", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.put the glasses on the table, C.put the brown packaging bag in the brown box, D.push the soccer ball into the goal] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001568.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the glasses on the table", "C.put the brown packaging bag in the brown box", "D.push the soccer ball into the goal" ] }, { "task_id": "0001569", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the bottle from the table into the bag, B.put the cup in the cabinet, C.pick up a small block, D.close the top drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001569.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle from the table into the bag", "B.put the cup in the cabinet", "C.pick up a small block", "D.close the top drawer" ] }, { "task_id": "0001570", "task": "TrajChoice", "id": "RH20T_cfg4_task_0026_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the object from the cup into the bowl, B.want to pull the blanket, C.push down the lever, D.use the gripper to push and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001570.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the object from the cup into the bowl", "B.want to pull the blanket", "C.push down the lever", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0001571", "task": "TrajChoice", "id": "RH20T_cfg6_task_0129_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the orange cube on top of the green cube, B.plug in the bulb holder with a bulb to the socket, C.pick up the object on the box and put it on the table, D.put the block into the plate] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001571.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cube on top of the green cube", "B.plug in the bulb holder with a bulb to the socket", "C.pick up the object on the box and put it on the table", "D.put the block into the plate" ] }, { "task_id": "0001572", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0006_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the toy apple with the front facing up onto a white plate, B.put the ring into the box, C.pick up the small block on the left and move it to the right, D.pour the contents of the black cup into another black cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001572.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the toy apple with the front facing up onto a white plate", "B.put the ring into the box", "C.pick up the small block on the left and move it to the right", "D.pour the contents of the black cup into another black cup" ] }, { "task_id": "0001573", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push an object with obstacles, B.put the marker on the table, C.put the box on the desk onto the windowsill and then put the box on the windowsill onto the desk, D.press a button on the remote control], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001573.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push an object with obstacles", "B.put the marker on the table", "C.put the box on the desk onto the windowsill and then put the box on the windowsill onto the desk", "D.press a button on the remote control" ] }, { "task_id": "0001574", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the black mug to the left side of the desk, move the white paper to the front of the desk, B.slice the carrots, C.put the marker inside the bowl, D.approach and touch the side of the small block] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001574.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black mug to the left side of the desk, move the white paper to the front of the desk", "B.slice the carrots", "C.put the marker inside the bowl", "D.approach and touch the side of the small block" ] }, { "task_id": "0001575", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.Insert the tip of a medium pipette into the holder for medium pipette tips, B.approach and touch the side of the small block, C.pull out a napkin, D.move the small bottle on the counter to the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001575.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a medium pipette into the holder for medium pipette tips", "B.approach and touch the side of the small block", "C.pull out a napkin", "D.move the small bottle on the counter to the left" ] }, { "task_id": "0001576", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take a pencil out of the ziplock bag and put it on the table, B.put the orange plush toy into the box, C.push the soccer ball into the goal, D.pick up the orange object and put it on the object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001576.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take a pencil out of the ziplock bag and put it on the table", "B.put the orange plush toy into the box", "C.push the soccer ball into the goal", "D.pick up the orange object and put it on the object" ] }, { "task_id": "0001578", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer a spoonful of contents from the bowl to the clear jar, B.remove the lid from the black pot and put it on the white tray on the table, C.put the wrench inside the cup, D.push the small block a little to the side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001578.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer a spoonful of contents from the bowl to the clear jar", "B.remove the lid from the black pot and put it on the white tray on the table", "C.put the wrench inside the cup", "D.push the small block a little to the side" ] }, { "task_id": "0001579", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cup in the bowl, B.grab the block and place it at the designated location, C.remove the jersey from the bag and put it on top of the washing machine, D.transfer the item from the countertop to the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001579.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the bowl", "B.grab the block and place it at the designated location", "C.remove the jersey from the bag and put it on top of the washing machine", "D.transfer the item from the countertop to the bowl" ] }, { "task_id": "0001580", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.cover the pot with the lid, B.press the button on the machine to open, C.assemble: attach the bubble ring to the ball, D.rotate the cup clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001580.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.press the button on the machine to open", "C.assemble: attach the bubble ring to the ball", "D.rotate the cup clockwise" ] }, { "task_id": "0001581", "task": "TrajChoice", "id": "RH20T_cfg1_task_0123_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the knife rack, B.pick the cup and pour its contents into the green bowl, C.push the opened drawer to close, D.turn the doorknob clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001581.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.pick the cup and pour its contents into the green bowl", "C.push the opened drawer to close", "D.turn the doorknob clockwise" ] }, { "task_id": "0001582", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the snack from the countertop and put it inside the open upper cabinet, B.put the green packet in the open upper cabinet, C.pour the object from the transparent box into the bowl, D.assemble: attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001582.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the snack from the countertop and put it inside the open upper cabinet", "B.put the green packet in the open upper cabinet", "C.pour the object from the transparent box into the bowl", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0001583", "task": "TrajChoice", "id": "RH20T_cfg6_task_0065_user_0007_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the toy ball to the right, B.build with small Lego blocks for the nth time with n blocks, C.place the block in front of the orange button on the left, D.put the orange cup in the yellow cup then put the yellow cup in the blue cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001583.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the toy ball to the right", "B.build with small Lego blocks for the nth time with n blocks", "C.place the block in front of the orange button on the left", "D.put the orange cup in the yellow cup then put the yellow cup in the blue cup" ] }, { "task_id": "0001584", "task": "TrajChoice", "id": "RH20T_cfg6_task_0065_user_0007_scene_0002_cfg_0006_104122063633#252", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stuff the cloth into the box, B.take the marker out of the bowl and put it on the desk, C.build with small Lego blocks for the nth time with n blocks, D.grab a basketball, release it and shoot it into the basket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001584.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stuff the cloth into the box", "B.take the marker out of the bowl and put it on the desk", "C.build with small Lego blocks for the nth time with n blocks", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0001585", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the plate on the bowl rack, B.move the bowl, C.swat with a flyswatter, D.close the upper drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001585.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the bowl rack", "B.move the bowl", "C.swat with a flyswatter", "D.close the upper drawer" ] }, { "task_id": "0001587", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the marker in the cup, B.pour the water in the cup into the cup, C.assemble: attach the bubble ring to the ball, D.move the black sock from the window sill to the nightstand], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001587.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.pour the water in the cup into the cup", "C.assemble: attach the bubble ring to the ball", "D.move the black sock from the window sill to the nightstand" ] }, { "task_id": "0001588", "task": "TrajChoice", "id": "RH20T_cfg4_task_0205_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take out the black items from the basket, B.chop the scallions, C.push down the lever of the toaster, D.unfold the green cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001588.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the black items from the basket", "B.chop the scallions", "C.push down the lever of the toaster", "D.unfold the green cloth" ] }, { "task_id": "0001589", "task": "TrajChoice", "id": "RH20T_cfg6_task_0067_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the jar on the metal object, B.open the bottle cap and place it on the table , C.press a button from top to bottom with obstacles, D.take the cushion from the left side of the black and white cushion to the right side of the black and white cushion], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001589.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the jar on the metal object", "B.open the bottle cap and place it on the table ", "C.press a button from top to bottom with obstacles", "D.take the cushion from the left side of the black and white cushion to the right side of the black and white cushion" ] }, { "task_id": "0001590", "task": "TrajChoice", "id": "RH20T_cfg6_task_0002_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the stack of dishes, B.put the glue stick in the bowl, C.pull out a napkin, D.take the green marker out of the white mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001590.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the stack of dishes", "B.put the glue stick in the bowl", "C.pull out a napkin", "D.take the green marker out of the white mug" ] }, { "task_id": "0001591", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the water tap, B.turn on the desk lamp by pressing the button, C.transfer the pot from the right side of the rack to the left side of the rack, D.pick up the orange object and put it in the toy cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001591.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.turn on the desk lamp by pressing the button", "C.transfer the pot from the right side of the rack to the left side of the rack", "D.pick up the orange object and put it in the toy cup" ] }, { "task_id": "0001592", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button on the power outlet, B.put the shovel on the stove, C.press the switch at the microwave oven switch, D.screw the lid onto the jar (needs to be rotated)], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001592.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the power outlet", "B.put the shovel on the stove", "C.press the switch at the microwave oven switch", "D.screw the lid onto the jar (needs to be rotated)" ] }, { "task_id": "0001593", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pineapple on the grey tray inside the fruit basket, B.unfold the leg of the glasses (with one hand), C.pick up the straw from the can and place it on the table, D.put the rubber duck in the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001593.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pineapple on the grey tray inside the fruit basket", "B.unfold the leg of the glasses (with one hand)", "C.pick up the straw from the can and place it on the table", "D.put the rubber duck in the pot" ] }, { "task_id": "0001594", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.plug in the bulb holder to the socket, B.get the lid from the transparent bottle on the left and place it to the right of the white bowl, C.close the open drawer, D.close the cardboard box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001594.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.get the lid from the transparent bottle on the left and place it to the right of the white bowl", "C.close the open drawer", "D.close the cardboard box" ] }, { "task_id": "0001595", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pull out a napkin, B.chop the scallions, C.cover the colourless lunchbox with the orange lid, D.place the orange rubber duck in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001595.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.chop the scallions", "C.cover the colourless lunchbox with the orange lid", "D.place the orange rubber duck in the bowl" ] }, { "task_id": "0001596", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0020_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the block to the left side of the table, B.close a sliding window, C.open the book, D.put the white bottle in the white pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001596.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block to the left side of the table", "B.close a sliding window", "C.open the book", "D.put the white bottle in the white pot" ] }, { "task_id": "0001597", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the packaging bag onto the table, B.push the lever on the toaster downwards to the on position, C.put the cup on the cup rack, D.move the lid from the table to the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001597.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the packaging bag onto the table", "B.push the lever on the toaster downwards to the on position", "C.put the cup on the cup rack", "D.move the lid from the table to the pot" ] }, { "task_id": "0001598", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the marker from the black mug to the table, B.pick up the white tube next to the bag and put it inside the bag, C.pick up the marker and put it in the cup, D.put the things in the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001598.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker from the black mug to the table", "B.pick up the white tube next to the bag and put it inside the bag", "C.pick up the marker and put it in the cup", "D.put the things in the drawer" ] }, { "task_id": "0001599", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the bottom drawer of the file cabinet on the right, B.stir the beaker with a glass rod, C.put the cloth on the stand, D.swatting a fly with a flyswatter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001599.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer of the file cabinet on the right", "B.stir the beaker with a glass rod", "C.put the cloth on the stand", "D.swatting a fly with a flyswatter" ] }, { "task_id": "0001600", "task": "TrajChoice", "id": "RH20T_cfg4_task_0040_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.adjust the position of the picture hanging on the wall by pulling it to the right, B.move the tube on the table forward, C.move the orange block to the right, D.stack the cups] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001600.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.adjust the position of the picture hanging on the wall by pulling it to the right", "B.move the tube on the table forward", "C.move the orange block to the right", "D.stack the cups" ] }, { "task_id": "0001601", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the cloth from the seat of the chair and place it on the back, B.pick up the object on the table, move it to the seat on the right side of the chair on the table, then put it down, C.turn on the desk lamp by pressing the button, D.push the black object to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001601.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth from the seat of the chair and place it on the back", "B.pick up the object on the table, move it to the seat on the right side of the chair on the table, then put it down", "C.turn on the desk lamp by pressing the button", "D.push the black object to the right" ] }, { "task_id": "0001602", "task": "TrajChoice", "id": "RH20T_cfg5_task_0200_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.Insert the tip of a large pipette into the holder for large pipette tips, B.open the bottom drawer of the cabinet to the right, C.put the marker in the cup, D.remove the green plush toy from the box and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001602.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a large pipette into the holder for large pipette tips", "B.open the bottom drawer of the cabinet to the right", "C.put the marker in the cup", "D.remove the green plush toy from the box and put it on the table" ] }, { "task_id": "0001603", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pour the white contents out of the orange bowl and into the white bowl, B.pick up the object and roll it on the napkin, C.wave the flag, D.transfer the marker from the cup to the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001603.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the white contents out of the orange bowl and into the white bowl", "B.pick up the object and roll it on the napkin", "C.wave the flag", "D.transfer the marker from the cup to the counter" ] }, { "task_id": "0001604", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the plate on the top part of the shelf, B.gently push the small block, C.put the lid on the silver pot, D.move the cup and place the cup on the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001604.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the top part of the shelf", "B.gently push the small block", "C.put the lid on the silver pot", "D.move the cup and place the cup on the shelf" ] }, { "task_id": "0001606", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the second round orange object from the left and put it on the table, B.press the button horizontally, C.turn on the desk lamp by pressing the button, D.take a jar down from the highest shelf and place it on the right side of the stovetop] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001606.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the second round orange object from the left and put it on the table", "B.press the button horizontally", "C.turn on the desk lamp by pressing the button", "D.take a jar down from the highest shelf and place it on the right side of the stovetop" ] }, { "task_id": "0001607", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.scrubbing the table with a brush, B.move the book to the left, C.the pot lid is placed on the pot, D.open a box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001607.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.move the book to the left", "C.the pot lid is placed on the pot", "D.open a box" ] }, { "task_id": "0001608", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the white cup to the right side, B.wipe the tabletop with a towel, C.rotate the faucet counterclockwise, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001608.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cup to the right side", "B.wipe the tabletop with a towel", "C.rotate the faucet counterclockwise", "D.press the button from top to bottom" ] }, { "task_id": "0001609", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.play the drum, B.open the coffee maker lid, C.put the white paper and the grey object into the drawer then close the drawer, D.close the coffee maker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001609.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.open the coffee maker lid", "C.put the white paper and the grey object into the drawer then close the drawer", "D.close the coffee maker" ] }, { "task_id": "0001610", "task": "TrajChoice", "id": "RH20T_cfg4_task_0202_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the white towel to wipe the outside of the sink, B.insert the tip of a small pipette into the holder for small pipette tips, C.uncover the pot, D.slide the tap to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001610.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the white towel to wipe the outside of the sink", "B.insert the tip of a small pipette into the holder for small pipette tips", "C.uncover the pot", "D.slide the tap to the right" ] }, { "task_id": "0001611", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.transfer the chess pieces from the table to the board, B.grab a basketball, release it and shoot it into the basket, C.put the tiger toy in the bowl, D.assemble: attach the bubble ring to the ball] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001611.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the chess pieces from the table to the board", "B.grab a basketball, release it and shoot it into the basket", "C.put the tiger toy in the bowl", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0001612", "task": "TrajChoice", "id": "RH20T_cfg1_task_0069_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grab the jar in the transparent bowl in the middle area of the table and move it to the left side area of the transparent bowl, B.assemble a puzzle, C.move the screwdriver and place it on the purple mat, D.move the toothbrush cup to the front of the sink counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001612.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the jar in the transparent bowl in the middle area of the table and move it to the left side area of the transparent bowl", "B.assemble a puzzle", "C.move the screwdriver and place it on the purple mat", "D.move the toothbrush cup to the front of the sink counter" ] }, { "task_id": "0001614", "task": "TrajChoice", "id": "RH20T_cfg6_task_0016_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.playing billiards, B.put the blue marker inside the yellow mug, C.put the spoon into the bowl from the table, D.pressing the lamp downwards], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001614.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.playing billiards", "B.put the blue marker inside the yellow mug", "C.put the spoon into the bowl from the table", "D.pressing the lamp downwards" ] }, { "task_id": "0001615", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the blue cylindrical block from the table and move it to the left, B.pour the water from a cup into another empty cup, C.press the button, D.move the pot and move it slightly to the right on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001615.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blue cylindrical block from the table and move it to the left", "B.pour the water from a cup into another empty cup", "C.press the button", "D.move the pot and move it slightly to the right on the table" ] }, { "task_id": "0001616", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the drum, B.place the brush on the pen rack, C.pour the contents in the green cup on the plate, D.swat with a flyswatter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001616.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.place the brush on the pen rack", "C.pour the contents in the green cup on the plate", "D.swat with a flyswatter" ] }, { "task_id": "0001617", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the green block in the bowl, B.take the white cloth down from the black stand, C.grab the block and place it at the designated location, D.put the blue cup inside the orange cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001617.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block in the bowl", "B.take the white cloth down from the black stand", "C.grab the block and place it at the designated location", "D.put the blue cup inside the orange cup" ] }, { "task_id": "0001618", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0001_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the light blue cup inside the orange cup, B.turn around the blue wooden basket, C.approach and touch the side of the small block, D.move the bottle with the yellow lid to the upper right corner of the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001618.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the light blue cup inside the orange cup", "B.turn around the blue wooden basket", "C.approach and touch the side of the small block", "D.move the bottle with the yellow lid to the upper right corner of the counter" ] }, { "task_id": "0001619", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.unfolding the clothes on the table, C.push the black lever on the bread toaster down, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001619.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.unfolding the clothes on the table", "C.push the black lever on the bread toaster down", "D.place the block on the scale" ] }, { "task_id": "0001621", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the cup, B.pour the items on the black plate onto the white plate, C.wipe the tabletop with a towel, D.remove the straw from the cup and put it in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001621.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup", "B.pour the items on the black plate onto the white plate", "C.wipe the tabletop with a towel", "D.remove the straw from the cup and put it in the bowl" ] }, { "task_id": "0001622", "task": "TrajChoice", "id": "RH20T_cfg1_task_0013_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the green sponge to the wooden board close to your right corner, B.put the black clothes on the back rest of the chair, C.place the block on the scale, D.place the pen on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001622.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green sponge to the wooden board close to your right corner", "B.put the black clothes on the back rest of the chair", "C.place the block on the scale", "D.place the pen on the table" ] }, { "task_id": "0001624", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the lever on the toaster downwards, B.place the object in the cup into the bowl, C.uncover the pot and put the lid on the counter, D.scrubbing the table with a brush], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001624.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lever on the toaster downwards", "B.place the object in the cup into the bowl", "C.uncover the pot and put the lid on the counter", "D.scrubbing the table with a brush" ] }, { "task_id": "0001625", "task": "TrajChoice", "id": "RH20T_cfg5_task_0085_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the item from the plate to the table, B.remove the bubble ring from the assembled bubble ring and ball, C.flip the book open on the table, D.put the yellow pepper inside the brown bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001625.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the item from the plate to the table", "B.remove the bubble ring from the assembled bubble ring and ball", "C.flip the book open on the table", "D.put the yellow pepper inside the brown bowl" ] }, { "task_id": "0001626", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the power strip by pressing the button, B.open the second drawer from the left, C.remove the object from the scale, D.pick up the red bell pepper from the pot and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001626.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.open the second drawer from the left", "C.remove the object from the scale", "D.pick up the red bell pepper from the pot and put it on the table" ] }, { "task_id": "0001627", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the purple plush toy out of the bowl and put it on the desk, B.clean the table with a cloth, C.move the towel to the right, D.open the cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001627.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the purple plush toy out of the bowl and put it on the desk", "B.clean the table with a cloth", "C.move the towel to the right", "D.open the cabinet door" ] }, { "task_id": "0001628", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the black object on the table, B.turn off the power strip by pressing the button, C.scrubbing the table with a brush, D.the surface], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001628.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the black object on the table", "B.turn off the power strip by pressing the button", "C.scrubbing the table with a brush", "D.the surface" ] }, { "task_id": "0001629", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the purple plushie to the right, B.open the microwave door, C.slide the green towel to the right, D.slide the Lysol bottle to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001629.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the purple plushie to the right", "B.open the microwave door", "C.slide the green towel to the right", "D.slide the Lysol bottle to the left" ] }, { "task_id": "0001630", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the orange bowl in the black bowl, B.put the rubber band on the cup, C.take the top towel, hang it on the hook and put it back on the counter, D.turn on the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001630.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange bowl in the black bowl", "B.put the rubber band on the cup", "C.take the top towel, hang it on the hook and put it back on the counter", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0001631", "task": "TrajChoice", "id": "RH20T_cfg5_task_0039_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the marker from the box to the table, B.take the can from the cabinet and put it on the counter, C.take the bag to the left side of the table, D.pour the water from one cup into another empty cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001631.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker from the box to the table", "B.take the can from the cabinet and put it on the counter", "C.take the bag to the left side of the table", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0001632", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grab the block and place it at the designated location, B.take the pen from the blue cup, C.throw the Hanoi block onto the table, D.put the red object in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001632.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.take the pen from the blue cup", "C.throw the Hanoi block onto the table", "D.put the red object in the bowl" ] }, { "task_id": "0001633", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn off the switch, B.sweeping a small block with the gripper from left to right on the table, C.pick up the block, D.close the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001633.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the switch", "B.sweeping a small block with the gripper from left to right on the table", "C.pick up the block", "D.close the microwave door" ] }, { "task_id": "0001634", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the soccer ball into the goal, B.push two plates forward on the table, C.wipe the whiteboard with an eraser, D.unfold a piece of paper that has been folded once with one end pressed down by a heavy object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001634.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.push two plates forward on the table", "C.wipe the whiteboard with an eraser", "D.unfold a piece of paper that has been folded once with one end pressed down by a heavy object" ] }, { "task_id": "0001635", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the small green bottle to the left of the spray bottle, B.cover the gift box, C.pick up the marker from the cup and put it on the table, D.close the left cabinet door of the highest shelf], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001635.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small green bottle to the left of the spray bottle", "B.cover the gift box", "C.pick up the marker from the cup and put it on the table", "D.close the left cabinet door of the highest shelf" ] }, { "task_id": "0001636", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the items from the box onto the towel, B.place the fabric on the flat surface, C.place the fork on the table mat, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001636.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items from the box onto the towel", "B.place the fabric on the flat surface", "C.place the fork on the table mat", "D.push the soccer ball into the goal" ] }, { "task_id": "0001637", "task": "TrajChoice", "id": "RH20T_cfg6_task_0081_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the bottom drawer of the right cabinet, B.take the grey clothing out of the bag, C.unfold the leg of the glasses, D.press the button on the lid] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001637.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer of the right cabinet", "B.take the grey clothing out of the bag", "C.unfold the leg of the glasses", "D.press the button on the lid" ] }, { "task_id": "0001638", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer the bottle from the pot to the table, B.assemble: attach the bubble ring to the ball, C.pick up the cup, D.place the remote control in the middle of the table, and press the remote control button on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001638.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the bottle from the pot to the table", "B.assemble: attach the bubble ring to the ball", "C.pick up the cup", "D.place the remote control in the middle of the table, and press the remote control button on the table" ] }, { "task_id": "0001639", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0062_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.sliding a towel on the table, B.moving the toilet paper from the table to the toilet paper holder, C.put the pen in the bowl, D.put the triangular cube on the top of the cylindrical block] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001639.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sliding a towel on the table", "B.moving the toilet paper from the table to the toilet paper holder", "C.put the pen in the bowl", "D.put the triangular cube on the top of the cylindrical block" ] }, { "task_id": "0001640", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the tap to the left, B.moving the pot lid from the rice cooker to the sink, C.place the large spoon in the white bowl, D.move the silver scissors away] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001640.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tap to the left", "B.moving the pot lid from the rice cooker to the sink", "C.place the large spoon in the white bowl", "D.move the silver scissors away" ] }, { "task_id": "0001641", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object into the bowl, B.push the soccer ball into the goal, C.zip up, D.put the lid on the pot] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001641.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.push the soccer ball into the goal", "C.zip up", "D.put the lid on the pot" ] }, { "task_id": "0001642", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the building blocks from the block tower to the desktop, B.remove the towel from the silver bar, C.take the bag to the left side of the table, D.place the block on the scale] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001642.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the building blocks from the block tower to the desktop", "B.remove the towel from the silver bar", "C.take the bag to the left side of the table", "D.place the block on the scale" ] }, { "task_id": "0001643", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.play the drum, B.put the marker from the black cup on the table, C.sharpen the pencil with a pencil sharpener, D.transfer the item from the table to the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001643.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.put the marker from the black cup on the table", "C.sharpen the pencil with a pencil sharpener", "D.transfer the item from the table to the bowl" ] }, { "task_id": "0001644", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hit the pool ball, B.take the can from the desk and place it on the object on the left side of the desk, C.put the object in the designated position, D.place the towel on the rack] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001644.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.take the can from the desk and place it on the object on the left side of the desk", "C.put the object in the designated position", "D.place the towel on the rack" ] }, { "task_id": "0001645", "task": "TrajChoice", "id": "RH20T_cfg5_task_0101_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.clean the table with a cloth, B.pick up the lid, and then place it on the pot, C.put the white bottle on the black shelf, D.pick up the lid from the pot and put it on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001645.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.pick up the lid, and then place it on the pot", "C.put the white bottle on the black shelf", "D.pick up the lid from the pot and put it on the counter" ] }, { "task_id": "0001646", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the object on the left side of the table, B.place the white object on top of the yoghurt, C.move the spoon forward, D.place the brush on the pen rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001646.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the left side of the table", "B.place the white object on top of the yoghurt", "C.move the spoon forward", "D.place the brush on the pen rack" ] }, { "task_id": "0001647", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the marker from the black mug, B.put the green block in the bowl, C.remove the object from the scale, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001647.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the black mug", "B.put the green block in the bowl", "C.remove the object from the scale", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0001648", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.assemble: attach the bubble ring to the ball, B.pressing the keys of the piano, C.put the object into the box, D.turning the faucet counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001648.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.pressing the keys of the piano", "C.put the object into the box", "D.turning the faucet counterclockwise" ] }, { "task_id": "0001650", "task": "TrajChoice", "id": "RH20T_cfg4_task_0112_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the soccer ball into the goal, B.plug in the charger to the socket, C.open the top right cupboard door, D.put the towel on the bottle to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001650.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.plug in the charger to the socket", "C.open the top right cupboard door", "D.put the towel on the bottle to the right" ] }, { "task_id": "0001651", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0014_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker into the bowl, B.put the object with the corresponding shape into the corresponding hole, C.put the flyswatter in the specified position, D.transfer the fabric to the windowsill], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001651.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the bowl", "B.put the object with the corresponding shape into the corresponding hole", "C.put the flyswatter in the specified position", "D.transfer the fabric to the windowsill" ] }, { "task_id": "0001652", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.stack the cups, B.drag the plate back after holding it down, C.pushing the handle to close the drawer, D.place the marker in the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001652.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the cups", "B.drag the plate back after holding it down", "C.pushing the handle to close the drawer", "D.place the marker in the pot" ] }, { "task_id": "0001653", "task": "TrajChoice", "id": "RH20T_cfg4_task_0213_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bottle into the pot, B.chop the orange, C.place one white cube from the sofa in the green mug, D.move the mug to the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001653.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the pot", "B.chop the orange", "C.place one white cube from the sofa in the green mug", "D.move the mug to the left" ] }, { "task_id": "0001655", "task": "TrajChoice", "id": "RH20T_cfg4_task_0032_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup to the right, B.slide the outer casing onto the gift box, C.place the black pepper jar in the bowl, D.put the spoon into the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001655.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.slide the outer casing onto the gift box", "C.place the black pepper jar in the bowl", "D.put the spoon into the cup" ] }, { "task_id": "0001656", "task": "TrajChoice", "id": "RH20T_cfg1_task_0048_user_0014_scene_0004_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the rubber band on the cup, B.move the bottle to the right, C.remove the black t-shirt from the backrest of the grey chair and place it on the table, D.rotate the steering wheel 90 degrees clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001656.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rubber band on the cup", "B.move the bottle to the right", "C.remove the black t-shirt from the backrest of the grey chair and place it on the table", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0001657", "task": "TrajChoice", "id": "RH20T_cfg5_task_0017_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the pen from the top of the pen holder and put it into the pen holder, B.put the plum in the white bowl, C.sharpen the pencil with a pencil sharpener, D.push the small block forward], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001657.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen from the top of the pen holder and put it into the pen holder", "B.put the plum in the white bowl", "C.sharpen the pencil with a pencil sharpener", "D.push the small block forward" ] }, { "task_id": "0001658", "task": "TrajChoice", "id": "RH20T_cfg2_task_0019_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the metal can into the sink, B.play the first move as black on the 3-4 point in the upper right corner of the Go board, C.take something out of a drawer, D.put the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001658.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the metal can into the sink", "B.play the first move as black on the 3-4 point in the upper right corner of the Go board", "C.take something out of a drawer", "D.put the lid on the pot" ] }, { "task_id": "0001659", "task": "TrajChoice", "id": "RH20T_cfg1_task_0083_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the plush toy to the left, B.put the flyswatter on the black dot, C.take the marker from the silver pot and put it on the table, D.slide the white towel across the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001659.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plush toy to the left", "B.put the flyswatter on the black dot", "C.take the marker from the silver pot and put it on the table", "D.slide the white towel across the table" ] }, { "task_id": "0001660", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the object from the scale, B.take the can out of the sink, C.push the faucet to the left, D.remove the seasoning bottle from the pot and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001660.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.take the can out of the sink", "C.push the faucet to the left", "D.remove the seasoning bottle from the pot and put it on the table" ] }, { "task_id": "0001661", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.center the faucet, B.drag the plate back after holding it down, C.put the orange towel on the chair, D.press the button horizontally] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001661.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.center the faucet", "B.drag the plate back after holding it down", "C.put the orange towel on the chair", "D.press the button horizontally" ] }, { "task_id": "0001662", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the black object to the edge of the table, B.plug in the usb drive to the docking station, C.pick up the green and orange blocks from the table and put them in the black bowl, D.put the block on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001662.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object to the edge of the table", "B.plug in the usb drive to the docking station", "C.pick up the green and orange blocks from the table and put them in the black bowl", "D.put the block on the table" ] }, { "task_id": "0001663", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.flip down the left light switch, B.clean the table with a cloth, C.push the book and cover it, D.put the spoon in the transparent jar into the green cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001663.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip down the left light switch", "B.clean the table with a cloth", "C.push the book and cover it", "D.put the spoon in the transparent jar into the green cup" ] }, { "task_id": "0001664", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grasp a small block to sweep another small block into the designated position, B.grasp the moving object, C.pick up the masking tape and put it on the plate, D.take the roll of paper down from the shelf and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001664.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep another small block into the designated position", "B.grasp the moving object", "C.pick up the masking tape and put it on the plate", "D.take the roll of paper down from the shelf and place it on the table" ] }, { "task_id": "0001665", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turning on the water tap, B.put the blocks into the basket, C.place the handset of the telephone on the corresponding phone cradle, D.pick up the green grapes from the stove and place them inside the pot in the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001665.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turning on the water tap", "B.put the blocks into the basket", "C.place the handset of the telephone on the corresponding phone cradle", "D.pick up the green grapes from the stove and place them inside the pot in the sink" ] }, { "task_id": "0001666", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the photo frame on the bracket, B.place the white base of the green button on the scale, C.remove the green marker from the table and put it in the bowl, D.move the clip from one cup to another], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001666.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the photo frame on the bracket", "B.place the white base of the green button on the scale", "C.remove the green marker from the table and put it in the bowl", "D.move the clip from one cup to another" ] }, { "task_id": "0001667", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the clothes from the box to the countertop, B.the trousers on the folding sofa, C.pressing the keys of the piano, D.push the soccer ball into the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001667.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clothes from the box to the countertop", "B.the trousers on the folding sofa", "C.pressing the keys of the piano", "D.push the soccer ball into the goal" ] }, { "task_id": "0001668", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the tap nozzle to the right, B.plug in the bulb holder to the socket, C.move the tape from the right side of the table to the left side of the table, D.pulling the door handle to the open position] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001668.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tap nozzle to the right", "B.plug in the bulb holder to the socket", "C.move the tape from the right side of the table to the left side of the table", "D.pulling the door handle to the open position" ] }, { "task_id": "0001669", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0002_scene_0006_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the marker from the bowl and put it on the table, B.push the small block, C.twist the first stick on the foosball, D.remove the white cloth from the black stand and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001669.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the bowl and put it on the table", "B.push the small block", "C.twist the first stick on the foosball", "D.remove the white cloth from the black stand and place it on the table" ] }, { "task_id": "0001670", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the lid on the pot, B.grab the block and place it at the designated location, C.wipe the mug on the plate with the towel, then place it in the silver bowl next to the plate, D.put the white tape on the white container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001670.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the pot", "B.grab the block and place it at the designated location", "C.wipe the mug on the plate with the towel, then place it in the silver bowl next to the plate", "D.put the white tape on the white container" ] }, { "task_id": "0001671", "task": "TrajChoice", "id": "RH20T_cfg1_task_0083_user_0010_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the lid from the tray and put it on the cup, B.swat with a flyswatter, C.put the lid on the pot, D.move the towel from the seat to the backrest of the chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001671.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid from the tray and put it on the cup", "B.swat with a flyswatter", "C.put the lid on the pot", "D.move the towel from the seat to the backrest of the chair" ] }, { "task_id": "0001672", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the cup off the cup rack, B.push the black lever on the bread toaster down, C.pick up the green object on the tray and put it in the green bowl, D.put the clothing on the denim trousers], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001672.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.push the black lever on the bread toaster down", "C.pick up the green object on the tray and put it in the green bowl", "D.put the clothing on the denim trousers" ] }, { "task_id": "0001673", "task": "TrajChoice", "id": "RH20T_cfg5_task_0083_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the transparent ring from the tower toy to the desktop, B.open a sliding window, C.pull the tissue and place the tissue on the right countertop, D.swat with a flyswatter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001673.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the transparent ring from the tower toy to the desktop", "B.open a sliding window", "C.pull the tissue and place the tissue on the right countertop", "D.swat with a flyswatter" ] }, { "task_id": "0001674", "task": "TrajChoice", "id": "RH20T_cfg3_task_0043_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.unscrew the lid from the jar, B.move the bottle to the right, C.put the orange item in the blue item, D.remove the marker from the cup and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001674.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.move the bottle to the right", "C.put the orange item in the blue item", "D.remove the marker from the cup and put it on the table" ] }, { "task_id": "0001675", "task": "TrajChoice", "id": "RH20T_cfg5_task_0033_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the K-cup to the top segment of the take-away food container, B.grasp a block to sweep the other block into the designated position, C.pick up the blue book and place it under the cabinet, D.put the bottle into the bag], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001675.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the K-cup to the top segment of the take-away food container", "B.grasp a block to sweep the other block into the designated position", "C.pick up the blue book and place it under the cabinet", "D.put the bottle into the bag" ] }, { "task_id": "0001676", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the bowl, B.pull the middle block up above the table and throw it onto the table, C.seasoning, D.place the container with the orange lid on the stove] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001676.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.pull the middle block up above the table and throw it onto the table", "C.seasoning", "D.place the container with the orange lid on the stove" ] }, { "task_id": "0001677", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the green cup in the lower left corner, B.take the pen out of the bowl and put it on the table, C.hang the orange cloth on the head rest of the chair, D.slide the transparent box from the bottom of the cabinet forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001677.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green cup in the lower left corner", "B.take the pen out of the bowl and put it on the table", "C.hang the orange cloth on the head rest of the chair", "D.slide the transparent box from the bottom of the cabinet forward" ] }, { "task_id": "0001678", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the silver cup, B.swat with a flyswatter, C.put the marker in the cup, D.move the faucet of the sink very slightly to the right] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001678.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the silver cup", "B.swat with a flyswatter", "C.put the marker in the cup", "D.move the faucet of the sink very slightly to the right" ] }, { "task_id": "0001679", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button from top to bottom, B.pick up the object from the handle of the couch and put it on the handle of the chair, C.use the cloth to wipe the surface, D.move the cup to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001679.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.pick up the object from the handle of the couch and put it on the handle of the chair", "C.use the cloth to wipe the surface", "D.move the cup to the left" ] }, { "task_id": "0001680", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the ball closer to the spoon, B.remove the block from the scale and place it on the table, C.fold the green towel, D.open the right door to the cupboard on the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001680.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the ball closer to the spoon", "B.remove the block from the scale and place it on the table", "C.fold the green towel", "D.open the right door to the cupboard on the right" ] }, { "task_id": "0001681", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.plug in the power cord to the socket, B.pour the contents of the plastic box onto the table, C.put the red mug inside the red bowl, D.remove the marker from the bowl and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001681.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.pour the contents of the plastic box onto the table", "C.put the red mug inside the red bowl", "D.remove the marker from the bowl and put it on the table" ] }, { "task_id": "0001682", "task": "TrajChoice", "id": "RH20T_cfg6_task_0055_user_0014_scene_0005_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the brown object to the left then use the towel to wipe the table, B.place the bottle on the table into the basket, C.push the lid to the right, D.transfer a liquid using a dropper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001682.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the brown object to the left then use the towel to wipe the table", "B.place the bottle on the table into the basket", "C.push the lid to the right", "D.transfer a liquid using a dropper" ] }, { "task_id": "0001683", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.assemble: attach the bubble ring to the ball, B.take the pen out of the cup and put it on the table, C.fold the grey towel in half, D.slide the lid on top of the wooden toy box closed] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001683.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.take the pen out of the cup and put it on the table", "C.fold the grey towel in half", "D.slide the lid on top of the wooden toy box closed" ] }, { "task_id": "0001684", "task": "TrajChoice", "id": "RH20T_cfg6_task_0033_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the straw out of the cup and put it on the plate, B.slide the block onto the mark, C.grab a cup from the first shelf, D.put the glue stick into the mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001684.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the straw out of the cup and put it on the plate", "B.slide the block onto the mark", "C.grab a cup from the first shelf", "D.put the glue stick into the mug" ] }, { "task_id": "0001685", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the objects on the plate and put them in the bin, B.the red object taken off the scale is placed on the table, C.put the glass lid on the black pot, D.pick up the table cloth and hang it on the black metallic arm] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001685.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the objects on the plate and put them in the bin", "B.the red object taken off the scale is placed on the table", "C.put the glass lid on the black pot", "D.pick up the table cloth and hang it on the black metallic arm" ] }, { "task_id": "0001686", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use a towel to wipe the plate, B.put the bag on the table, C.take the pen out of the cup and place it on the table, D.turn off the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001686.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the plate", "B.put the bag on the table", "C.take the pen out of the cup and place it on the table", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0001687", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the soccer ball into the goal, B.close the book, C.put the helmet on the right armrest, D.water the plant], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001687.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.close the book", "C.put the helmet on the right armrest", "D.water the plant" ] }, { "task_id": "0001688", "task": "TrajChoice", "id": "RH20T_cfg7_task_0019_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the stacked cups to the right, B.press the silver lid on top of the cup, C.pick the marker from the cup and put it on the table, D.move the black stone from the bowl of black stones and place it on the 3-4 point of the Go board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001688.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the stacked cups to the right", "B.press the silver lid on top of the cup", "C.pick the marker from the cup and put it on the table", "D.move the black stone from the bowl of black stones and place it on the 3-4 point of the Go board" ] }, { "task_id": "0001689", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grab the block and place it at the designated location, B.get the blue shirt from the seat and place it on the backrest of the chair, C.receive something handed over by a human, D.turn the tap nozzle to the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001689.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.get the blue shirt from the seat and place it on the backrest of the chair", "C.receive something handed over by a human", "D.turn the tap nozzle to the left" ] }, { "task_id": "0001690", "task": "TrajChoice", "id": "RH20T_cfg7_task_0022_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.wave the flag, B.pick up the black plate and pour its contents into the bowl, C.clean the tabletop with a sponge, D.press the button on the top of the oven], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001690.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.pick up the black plate and pour its contents into the bowl", "C.clean the tabletop with a sponge", "D.press the button on the top of the oven" ] }, { "task_id": "0001691", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put a straw on the counter, B.press the top of the pump bottle on the table, C.put the banana on the table, D.unscrew the lid from the jar] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001691.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a straw on the counter", "B.press the top of the pump bottle on the table", "C.put the banana on the table", "D.unscrew the lid from the jar" ] }, { "task_id": "0001692", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.approach and touch the side of the small block, B.tip over the cup and lay the big cup down clockwise, C.put the knife on the cutting board, D.push down the toaster lever], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001692.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.tip over the cup and lay the big cup down clockwise", "C.put the knife on the cutting board", "D.push down the toaster lever" ] }, { "task_id": "0001693", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bowl into the microwave, B.place the lid on the countertop, C.take out a Hanoi block and place it aside, D.put the clothes hanger on the rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001693.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl into the microwave", "B.place the lid on the countertop", "C.take out a Hanoi block and place it aside", "D.put the clothes hanger on the rack" ] }, { "task_id": "0001694", "task": "TrajChoice", "id": "RH20T_cfg5_task_0225_user_0010_scene_0003_cfg_0005_104122063678#545", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the strawberry and grapes out of the black box, B.put the bowl into the microwave, C.rotate the steering wheel 90 degrees clockwise, D.place the measuring tape a little to the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001694.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the strawberry and grapes out of the black box", "B.put the bowl into the microwave", "C.rotate the steering wheel 90 degrees clockwise", "D.place the measuring tape a little to the left side of the table" ] }, { "task_id": "0001695", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the red can from the sink on the left and place it on the counter, B.put the two cubes in the bowl, C.put the toy car on top of the book on the armrest, D.put the item in the drawer and close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001695.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the red can from the sink on the left and place it on the counter", "B.put the two cubes in the bowl", "C.put the toy car on top of the book on the armrest", "D.put the item in the drawer and close the drawer" ] }, { "task_id": "0001696", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0014_scene_0009_cfg_0001_819112070044#166", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the maize in the white bowl, B.move the rubber duck to the right, C.put the item in the drawer and close the drawer, D.place the granola bar on the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001696.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the maize in the white bowl", "B.move the rubber duck to the right", "C.put the item in the drawer and close the drawer", "D.place the granola bar on the countertop" ] }, { "task_id": "0001697", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the last building block on top of the block tower, B.put the yellow object on the table into the bag, C.push the toaster lever button, D.grasp the handle and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001697.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the last building block on top of the block tower", "B.put the yellow object on the table into the bag", "C.push the toaster lever button", "D.grasp the handle and close the drawer" ] }, { "task_id": "0001698", "task": "TrajChoice", "id": "RH20T_cfg5_task_0028_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the blue box, B.pick up the spot welding pen and put it on the welding pen holder, C.water the plant, D.grasp the handle and close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001698.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the blue box", "B.pick up the spot welding pen and put it on the welding pen holder", "C.water the plant", "D.grasp the handle and close the drawer" ] }, { "task_id": "0001699", "task": "TrajChoice", "id": "RH20T_cfg1_task_0029_user_0014_scene_0009_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grasp the handle and open the drawer, B.place the handset of the telephone on the phone cradle, C.play jenga, D.open the left door of the middle shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001699.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.place the handset of the telephone on the phone cradle", "C.play jenga", "D.open the left door of the middle shelf" ] }, { "task_id": "0001700", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker inside the bowl, B.remove the lid from the silver pot, C.use the white towel to wipe the white bowl, D.remove the block from the scale and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001700.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the bowl", "B.remove the lid from the silver pot", "C.use the white towel to wipe the white bowl", "D.remove the block from the scale and put it on the table" ] }, { "task_id": "0001701", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the desk lamp by pressing the button, B.remove the marker from the silver pot, C.remove the object from the scale, D.take the lid off of the container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001701.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.remove the marker from the silver pot", "C.remove the object from the scale", "D.take the lid off of the container" ] }, { "task_id": "0001702", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the items from the bowl on the table, B.clean the tabletop with a sponge, C.put the cup on the cup rack, D.press the button of the orange base with the red button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001702.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the items from the bowl on the table", "B.clean the tabletop with a sponge", "C.put the cup on the cup rack", "D.press the button of the orange base with the red button" ] }, { "task_id": "0001703", "task": "TrajChoice", "id": "RH20T_cfg5_task_0049_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull the rope down, B.place the CD into the pen holder, C.take the black pen out of the mug and place it on the countertop, D.rotate the steering wheel 90 degrees counterclockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001703.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the rope down", "B.place the CD into the pen holder", "C.take the black pen out of the mug and place it on the countertop", "D.rotate the steering wheel 90 degrees counterclockwise" ] }, { "task_id": "0001704", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the white object on the left, B.put the black marker in the cup, C.take the roll of paper down from the shelf and put it on the table, D.put the cup on the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001704.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the white object on the left", "B.put the black marker in the cup", "C.take the roll of paper down from the shelf and put it on the table", "D.put the cup on the cup rack" ] }, { "task_id": "0001705", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the book to the left, B.pour the object from the green bowl into the white bowl, C.remove the green pen from the white cup and place it on the table, D.open the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001705.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the book to the left", "B.pour the object from the green bowl into the white bowl", "C.remove the green pen from the white cup and place it on the table", "D.open the microwave door" ] }, { "task_id": "0001706", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wave the flag, B.move the object to the table, C.take the tissue off the tissue holder and place it vertically on the table, D.transfer the bottle from the plate to the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001706.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.move the object to the table", "C.take the tissue off the tissue holder and place it vertically on the table", "D.transfer the bottle from the plate to the table" ] }, { "task_id": "0001707", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.install the light bulb by rotating it, B.put the bowl in the dish tray, C.put the object on the table, D.pick up the black sock from the windowsill and place it on the white tray on the nightstand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001707.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.install the light bulb by rotating it", "B.put the bowl in the dish tray", "C.put the object on the table", "D.pick up the black sock from the windowsill and place it on the white tray on the nightstand" ] }, { "task_id": "0001710", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.clean the tabletop with a sponge, B.close the door of the kitchen top cabinet, C.get the black tray from the open drawer of the cabinet and place it on the countertop, D.wipe the plate with the cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001710.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.close the door of the kitchen top cabinet", "C.get the black tray from the open drawer of the cabinet and place it on the countertop", "D.wipe the plate with the cloth" ] }, { "task_id": "0001711", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the marker out of the white cup and place it on the table, B.close the lid of the electric kettle, C.put the donut on the table from the box, D.throw the middle block onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001711.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the white cup and place it on the table", "B.close the lid of the electric kettle", "C.put the donut on the table from the box", "D.throw the middle block onto the table" ] }, { "task_id": "0001712", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0006_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the contents from the orange cup into the white bowl, B.close the flat drawer, C.hit the pool ball, D.put the hat on the hook], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001712.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents from the orange cup into the white bowl", "B.close the flat drawer", "C.hit the pool ball", "D.put the hat on the hook" ] }, { "task_id": "0001713", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the knob to increase the volume of the speaker, B.turn off the heater, C.folding clothes, D.flip the book open on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001713.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.turn off the heater", "C.folding clothes", "D.flip the book open on the table" ] }, { "task_id": "0001714", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the stuff in the mixing bowl, B.put the toy into the black bag, C.put the knife on the cutting board, D.put the blue cap on top of the black one in the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001714.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the stuff in the mixing bowl", "B.put the toy into the black bag", "C.put the knife on the cutting board", "D.put the blue cap on top of the black one in the drawer" ] }, { "task_id": "0001715", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the content from the spoon into the bowl, B.pressing the remote control button, C.close the top drawer of the left cabinet, D.flip over and spread out the paper that is laid flat on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001715.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the content from the spoon into the bowl", "B.pressing the remote control button", "C.close the top drawer of the left cabinet", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0001716", "task": "TrajChoice", "id": "RH20T_cfg6_task_0049_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.wipe the plate with the blue towel and put it back on the table, B.remove the tulip plush toy from the orange plate, C.rotate the steering wheel 90 degrees counterclockwise, D.open the basket of the air fryer, then close it] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001716.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the plate with the blue towel and put it back on the table", "B.remove the tulip plush toy from the orange plate", "C.rotate the steering wheel 90 degrees counterclockwise", "D.open the basket of the air fryer, then close it" ] }, { "task_id": "0001717", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the box to the left side of the counter, B.remove the red marker from the mug, C.unfold the leg of the glasses (with one hand), D.take a bottle from the transparent container and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001717.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the box to the left side of the counter", "B.remove the red marker from the mug", "C.unfold the leg of the glasses (with one hand)", "D.take a bottle from the transparent container and place it on the table" ] }, { "task_id": "0001718", "task": "TrajChoice", "id": "RH20T_cfg2_task_0062_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the drawer, put the pineapple in the drawer, then close the drawer, B.press the button horizontally, C.remove the blue building block from on top of the green building block and put it on the table, D.put the toilet paper on its holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001718.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer, put the pineapple in the drawer, then close the drawer", "B.press the button horizontally", "C.remove the blue building block from on top of the green building block and put it on the table", "D.put the toilet paper on its holder" ] }, { "task_id": "0001719", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the bowl to the sofa, B.gently push the block to the left, C.pick up the pen from the cup and put it on the table, D.move the black and white bowl on the left to the right, then remove the silver lid from the glass container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001719.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the sofa", "B.gently push the block to the left", "C.pick up the pen from the cup and put it on the table", "D.move the black and white bowl on the left to the right, then remove the silver lid from the glass container" ] }, { "task_id": "0001720", "task": "TrajChoice", "id": "RH20T_cfg1_task_0001_user_0004_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.seasoning, B.remove the marker from the mug cup, C.take the red clothing out of the left drawer and put it in the right drawer, then close the left drawer, D.press the button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001720.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.seasoning", "B.remove the marker from the mug cup", "C.take the red clothing out of the left drawer and put it in the right drawer, then close the left drawer", "D.press the button from top to bottom" ] }, { "task_id": "0001721", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.scrubbing the table with a brush, B.take the tape down from the shelf, C.pick up the tokens from the table and put them in the black bowl, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001721.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.take the tape down from the shelf", "C.pick up the tokens from the table and put them in the black bowl", "D.push the soccer ball into the goal" ] }, { "task_id": "0001722", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take out the black object from the bowl, B.clean the table with a cloth, C.pick up an object and put it in the bowl, D.pull out a napkin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001722.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the black object from the bowl", "B.clean the table with a cloth", "C.pick up an object and put it in the bowl", "D.pull out a napkin" ] }, { "task_id": "0001723", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the green button on the white base, B.put the bottle on the countertop, C.move the cylinder from the plate to the object, D.put the cup into the cup and put the cup on the upper shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001723.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the green button on the white base", "B.put the bottle on the countertop", "C.move the cylinder from the plate to the object", "D.put the cup into the cup and put the cup on the upper shelf" ] }, { "task_id": "0001725", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the small black bin to the back of the cup, B.move the hanger to the right, C.put the yellow block in the blue cup, D.take the roll of paper down from the shelf] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001725.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small black bin to the back of the cup", "B.move the hanger to the right", "C.put the yellow block in the blue cup", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0001726", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn on the light, B.put the shaker in the dish, C.close the microwave door, D.Insert the tip of a medium pipette into the holder for medium pipette tips] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001726.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light", "B.put the shaker in the dish", "C.close the microwave door", "D.Insert the tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0001727", "task": "TrajChoice", "id": "RH20T_cfg1_task_0028_user_0001_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the tea bag into the cup, B.pick up the bottle, then place it bottom down on the table, C.grasp the handle and close the drawer, D.pick up the straw from the table and put it in the can], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001727.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tea bag into the cup", "B.pick up the bottle, then place it bottom down on the table", "C.grasp the handle and close the drawer", "D.pick up the straw from the table and put it in the can" ] }, { "task_id": "0001728", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.spread the towel out on the counter, B.grasp the block on the shovel, C.press the hand sanitizer bottle, D.put the knife on the cutting board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001728.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.spread the towel out on the counter", "B.grasp the block on the shovel", "C.press the hand sanitizer bottle", "D.put the knife on the cutting board" ] }, { "task_id": "0001729", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the object in the container, B.close the tap, C.put the things in the drawer, D.pull out a napkin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001729.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the container", "B.close the tap", "C.put the things in the drawer", "D.pull out a napkin" ] }, { "task_id": "0001730", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0001_cfg_0003_104122062823#644", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a bag of things, B.press the control panel button, C.put the things in the drawer, D.slide out the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001730.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.press the control panel button", "C.put the things in the drawer", "D.slide out the box" ] }, { "task_id": "0001731", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the masking tape on the microwave, B.remove the object from the scale, C.put the brown marker inside the cup, D.pick up a bag of things] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001731.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the masking tape on the microwave", "B.remove the object from the scale", "C.put the brown marker inside the cup", "D.pick up a bag of things" ] }, { "task_id": "0001732", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull out a napkin, B.put the cup in the sink on the table, C.remove the coffee cup from the coffeemaker then place a coffee pod in the coffee maker chamber, D.pick up the pen from the table and put it in a mug cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001732.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.put the cup in the sink on the table", "C.remove the coffee cup from the coffeemaker then place a coffee pod in the coffee maker chamber", "D.pick up the pen from the table and put it in a mug cup" ] }, { "task_id": "0001733", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0001_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wave the flag, B.turn off the desk lamp by pressing the button, C.put the white spoon on the coffee cup, D.pick up the bowl on the table and pour out the object inside the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001733.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.turn off the desk lamp by pressing the button", "C.put the white spoon on the coffee cup", "D.pick up the bowl on the table and pour out the object inside the bowl" ] }, { "task_id": "0001734", "task": "TrajChoice", "id": "RH20T_cfg5_task_0007_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the object on the table, B.sweeping a small block from left to right on the table with the gripper, C.close the top drawer of the beige file cabinet, D.move the white bowl to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001734.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the object on the table", "B.sweeping a small block from left to right on the table with the gripper", "C.close the top drawer of the beige file cabinet", "D.move the white bowl to the right" ] }, { "task_id": "0001735", "task": "TrajChoice", "id": "RH20T_cfg2_task_0208_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.wiping the table, B.slice the lotus root, C.turn on the machine switch, D.remove the pen from the cup, put it on the table, and then put it back in the cup] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001735.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the table", "B.slice the lotus root", "C.turn on the machine switch", "D.remove the pen from the cup, put it on the table, and then put it back in the cup" ] }, { "task_id": "0001736", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the microwave door, B.put the lid on the pot on the table, C.move the cloth on the table forward, D.rotate the lid counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001736.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.put the lid on the pot on the table", "C.move the cloth on the table forward", "D.rotate the lid counterclockwise" ] }, { "task_id": "0001737", "task": "TrajChoice", "id": "RH20T_cfg1_task_0123_user_0014_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object in the bottle into the bowl, B.use the spoon to put some of the contents of the white plate into the plate to the left, C.put the knife on the knife rack, D.open the right door of the cabinet above the stove] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001737.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the bottle into the bowl", "B.use the spoon to put some of the contents of the white plate into the plate to the left", "C.put the knife on the knife rack", "D.open the right door of the cabinet above the stove" ] }, { "task_id": "0001738", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white towel in the black box, B.remove the small wooden block from the scale, C.pull the tap of the sink to the left, D.move the black object to the middle of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001738.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white towel in the black box", "B.remove the small wooden block from the scale", "C.pull the tap of the sink to the left", "D.move the black object to the middle of the table" ] }, { "task_id": "0001739", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the orange object on the orange plate, B.put the packet of crisps on the bottom shelf, C.water the plant, D.receive something handed over by a human], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001739.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange object on the orange plate", "B.put the packet of crisps on the bottom shelf", "C.water the plant", "D.receive something handed over by a human" ] }, { "task_id": "0001740", "task": "TrajChoice", "id": "RH20T_cfg1_task_0104_user_0014_scene_0005_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the blue object in the open drawer then close the drawer, B.rotate the knob on the control panel clockwise, C.drag the plate back after holding it down, D.put the spoon into the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001740.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object in the open drawer then close the drawer", "B.rotate the knob on the control panel clockwise", "C.drag the plate back after holding it down", "D.put the spoon into the box" ] }, { "task_id": "0001741", "task": "TrajChoice", "id": "RH20T_cfg1_task_0100_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen in the grey bowl, B.remove the white mug from the nightstand shelf and place it on the sofa, C.stir the beaker with a glass rod, D.sharpen the pencil with a pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001741.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the grey bowl", "B.remove the white mug from the nightstand shelf and place it on the sofa", "C.stir the beaker with a glass rod", "D.sharpen the pencil with a pencil sharpener" ] }, { "task_id": "0001742", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the block on the scale, B.place the orange marker inside the white bowl, C.place the handset of the telephone on the corresponding phone cradle, D.place the spoon on the left green cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001742.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.place the orange marker inside the white bowl", "C.place the handset of the telephone on the corresponding phone cradle", "D.place the spoon on the left green cup" ] }, { "task_id": "0001743", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the right door of the cabinet, B.use the towel to wipe the table, C.take out a Hanoi block and throw it aside, D.put the black object in the bag on the left side of the countertop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001743.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the right door of the cabinet", "B.use the towel to wipe the table", "C.take out a Hanoi block and throw it aside", "D.put the black object in the bag on the left side of the countertop" ] }, { "task_id": "0001744", "task": "TrajChoice", "id": "RH20T_cfg1_task_0067_user_0010_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the belt from the couch and put it on the back of the black chair, B.press a button from top to bottom with obstacles, C.put the brown block in the cup, D.put the green packet in the open upper cabinet] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001744.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the belt from the couch and put it on the back of the black chair", "B.press a button from top to bottom with obstacles", "C.put the brown block in the cup", "D.put the green packet in the open upper cabinet" ] }, { "task_id": "0001745", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the open drawer closed, B.put the cup on the cup rack, C.fold the green towel, D.throw the green book to the side of the sofa], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001745.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the open drawer closed", "B.put the cup on the cup rack", "C.fold the green towel", "D.throw the green book to the side of the sofa" ] }, { "task_id": "0001746", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the small Rubik's cube in the wooden box, B.turn the machine knob clockwise, C.remove the object from the scale, D.pick up the cup and put it on the tray], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001746.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small Rubik's cube in the wooden box", "B.turn the machine knob clockwise", "C.remove the object from the scale", "D.pick up the cup and put it on the tray" ] }, { "task_id": "0001747", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the pen from the mug then put it on the table, B.plug in the USB drive to the docking station, C.put the glue on the transparent cup into the transparent cup, D.put the object in the bag] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001747.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the mug then put it on the table", "B.plug in the USB drive to the docking station", "C.put the glue on the transparent cup into the transparent cup", "D.put the object in the bag" ] }, { "task_id": "0001748", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the black small Lego block on the grid position, B.put the beverage into the sink, C.plug in the power cord to the socket, D.pick up the green object from the table and put it on top of the other objects], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001748.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black small Lego block on the grid position", "B.put the beverage into the sink", "C.plug in the power cord to the socket", "D.pick up the green object from the table and put it on top of the other objects" ] }, { "task_id": "0001751", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the black desktop microphone to the right, the headphones to the left, B.turn off the light above the cooker, C.push down the lever, D.put the pen in the mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001751.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black desktop microphone to the right, the headphones to the left", "B.turn off the light above the cooker", "C.push down the lever", "D.put the pen in the mug" ] }, { "task_id": "0001752", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the bottle and put it in the sink, B.clean the tabletop with a sponge, C.put the cushions, one in front of the other, against the right arm rest, D.put the marker in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001752.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle and put it in the sink", "B.clean the tabletop with a sponge", "C.put the cushions, one in front of the other, against the right arm rest", "D.put the marker in the cup" ] }, { "task_id": "0001753", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup slightly to the right, B.put the block on the stack, C.pick up the towel on the table and put it down, D.grasp a block to sweep the other block onto the mark] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001753.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup slightly to the right", "B.put the block on the stack", "C.pick up the towel on the table and put it down", "D.grasp a block to sweep the other block onto the mark" ] }, { "task_id": "0001754", "task": "TrajChoice", "id": "RH20T_cfg1_task_0089_user_0015_scene_0001_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push an object with obstacles, B.push the base in the microwave, C.put the cup inside the cup, D.unhang the cloth from the stand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001754.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push an object with obstacles", "B.push the base in the microwave", "C.put the cup inside the cup", "D.unhang the cloth from the stand" ] }, { "task_id": "0001755", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the orange towel on the back of the chair, B.pick up the small block on the right side of the desk and move it to the left side of the desk, C.turn on the power strip by pressing the button, D.plug in the USB drive to the docking station], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001755.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange towel on the back of the chair", "B.pick up the small block on the right side of the desk and move it to the left side of the desk", "C.turn on the power strip by pressing the button", "D.plug in the USB drive to the docking station" ] }, { "task_id": "0001756", "task": "TrajChoice", "id": "RH20T_cfg4_task_0218_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, B.put the blue marker in the yellow mug, C.move an object from one box to another, D.move the utensils from the plate to the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001756.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "B.put the blue marker in the yellow mug", "C.move an object from one box to another", "D.move the utensils from the plate to the table" ] }, { "task_id": "0001757", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the coffee pod from the coffee maker, B.press the toaster button, C.hit the pool ball, D.put the things in the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001757.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the coffee pod from the coffee maker", "B.press the toaster button", "C.hit the pool ball", "D.put the things in the drawer" ] }, { "task_id": "0001758", "task": "TrajChoice", "id": "RH20T_cfg1_task_0016_user_0008_scene_0001_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the lid back on the coffee jar, B.move the white bottle to the middle of the table, C.press the remote control button in the cabinet, D.hit the pool ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001758.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid back on the coffee jar", "B.move the white bottle to the middle of the table", "C.press the remote control button in the cabinet", "D.hit the pool ball" ] }, { "task_id": "0001759", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the spoon on the right side of the table, B.slide the plate to the goal post on the table, C.put the object on the surface of the box, D.push down the lever], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001759.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the right side of the table", "B.slide the plate to the goal post on the table", "C.put the object on the surface of the box", "D.push down the lever" ] }, { "task_id": "0001760", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow object into the bowl, B.move the bottle, C.slide the outer casing onto the gift box, D.throw the apple slice toy into the white pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001760.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow object into the bowl", "B.move the bottle", "C.slide the outer casing onto the gift box", "D.throw the apple slice toy into the white pot" ] }, { "task_id": "0001761", "task": "TrajChoice", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the green object to the right, B.put the clothes on the sofa, C.take the cup to the right side of the table, D.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001761.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green object to the right", "B.put the clothes on the sofa", "C.take the cup to the right side of the table", "D.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp" ] }, { "task_id": "0001762", "task": "TrajChoice", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#533", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, B.fold the towel, C.remove the items from the red bowl, D.move the tape into the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001762.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "B.fold the towel", "C.remove the items from the red bowl", "D.move the tape into the drawer" ] }, { "task_id": "0001763", "task": "TrajChoice", "id": "RH20T_cfg4_task_0127_user_0010_scene_0009_cfg_0004_104122062823#606", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, B.place the ring onto the cylinder, C.place the solid glue and the pen holder on the table correctly, D.pick up the glass jar on the right, shake it over the bowl, and then set it down again] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001763.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "B.place the ring onto the cylinder", "C.place the solid glue and the pen holder on the table correctly", "D.pick up the glass jar on the right, shake it over the bowl, and then set it down again" ] }, { "task_id": "0001764", "task": "TrajChoice", "id": "RH20T_cfg7_task_0022_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents of the white pot into the adjacent black pot, B.transfer the object from the left side of the surface to the right side of the surface, C.pick up the cup, D.wave the flag] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001764.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the white pot into the adjacent black pot", "B.transfer the object from the left side of the surface to the right side of the surface", "C.pick up the cup", "D.wave the flag" ] }, { "task_id": "0001765", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take something out of a drawer, B.turn off the chandelier, C.press the cap of the kettle to open it, D.remove the pen out of the cup and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001765.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.turn off the chandelier", "C.press the cap of the kettle to open it", "D.remove the pen out of the cup and put it on the table" ] }, { "task_id": "0001766", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take everything out of the gift box, B.grab a basketball, release it and shoot it into the basket, C.push the storage box into the bottom of the black and white cabinet, D.put the block on the block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001766.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.grab a basketball, release it and shoot it into the basket", "C.push the storage box into the bottom of the black and white cabinet", "D.put the block on the block" ] }, { "task_id": "0001767", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0013_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull out a napkin, B.place the object in the sink from the counter, C.close the open cabinet door, D.transfer the yellow package from the sliding tray to the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001767.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.place the object in the sink from the counter", "C.close the open cabinet door", "D.transfer the yellow package from the sliding tray to the table" ] }, { "task_id": "0001768", "task": "TrajChoice", "id": "RH20T_cfg1_task_0011_user_0008_scene_0002_cfg_0001_750612070851#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.water the plant, B.pick up the orange block from the table and put it on the green block, C.put the arch-shaped wooden block on top of the rectangular wooden block, D.press the button of the toaster], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001768.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.pick up the orange block from the table and put it on the green block", "C.put the arch-shaped wooden block on top of the rectangular wooden block", "D.press the button of the toaster" ] }, { "task_id": "0001770", "task": "TrajChoice", "id": "RH20T_cfg1_task_0066_user_0014_scene_0002_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the pen on the table, B.remove the lid from the black pot and place it on the counter, C.build with large Megabloks for the nth time with n blocks, D.press a button horizontally] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001770.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen on the table", "B.remove the lid from the black pot and place it on the counter", "C.build with large Megabloks for the nth time with n blocks", "D.press a button horizontally" ] }, { "task_id": "0001771", "task": "TrajChoice", "id": "RH20T_cfg1_task_0066_user_0014_scene_0002_cfg_0001_819112071037#180", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.build with large Megabloks for the nth time with n blocks, B.grasp the moving object, C.put the white pillow in front of the small one, D.pull the wool blanket over the chair back], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001771.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.grasp the moving object", "C.put the white pillow in front of the small one", "D.pull the wool blanket over the chair back" ] }, { "task_id": "0001772", "task": "TrajChoice", "id": "RH20T_cfg2_task_0079_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the jar into the box, B.close the open drawer on the grey filing cabinet, C.open the microwave door, D.put the clothes on the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001772.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the jar into the box", "B.close the open drawer on the grey filing cabinet", "C.open the microwave door", "D.put the clothes on the box" ] }, { "task_id": "0001773", "task": "TrajChoice", "id": "RH20T_cfg5_task_0056_user_0010_scene_0007_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the marker from the cup, B.receiving something handed over by a human, C.the fabric slides on the table, D.grab the object on the cup and move it to the left side of the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001773.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup", "B.receiving something handed over by a human", "C.the fabric slides on the table", "D.grab the object on the cup and move it to the left side of the cup" ] }, { "task_id": "0001774", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0001_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.adjust the position of the charging cable, B.turn off the desk lamp by pressing the button, C.pick the pen on the table and put it in the cup, D.put the right red object inside the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001774.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.adjust the position of the charging cable", "B.turn off the desk lamp by pressing the button", "C.pick the pen on the table and put it in the cup", "D.put the right red object inside the sink" ] }, { "task_id": "0001775", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.insert the tip of a large pipette into the holder for large pipette tips, B.swat with a flyswatter, C.move the object to the left, D.turn off the water tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001775.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a large pipette into the holder for large pipette tips", "B.swat with a flyswatter", "C.move the object to the left", "D.turn off the water tap" ] }, { "task_id": "0001776", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press on the blue bottle, B.open the microwave door, C.cut the green onions, D.put the bottle on the table, put the bottle on the bottle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001776.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press on the blue bottle", "B.open the microwave door", "C.cut the green onions", "D.put the bottle on the table, put the bottle on the bottle" ] }, { "task_id": "0001778", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the yellow toy from the top of the toy tower and put it on the table, B.put the pair of shoes on the left shoe rack, C.put the black object on the table, D.open a sliding window] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001778.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the yellow toy from the top of the toy tower and put it on the table", "B.put the pair of shoes on the left shoe rack", "C.put the black object on the table", "D.open a sliding window" ] }, { "task_id": "0001779", "task": "TrajChoice", "id": "RH20T_cfg5_task_0029_user_0010_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.play the first move as black on the 3-4 point in the upper right corner of the Go board, B.place the bowl on the box, C.grasp the handle and open the drawer, D.unfold the towel and lay it flat on the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001779.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the first move as black on the 3-4 point in the upper right corner of the Go board", "B.place the bowl on the box", "C.grasp the handle and open the drawer", "D.unfold the towel and lay it flat on the countertop" ] }, { "task_id": "0001780", "task": "TrajChoice", "id": "RH20T_cfg5_task_0104_user_0007_scene_0005_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the top drawer of the cabinet to the right, B.move the pot from the stove to the burner, C.move the tissue roll to the top left corner of the table and put the bottle on the chair on the table, D.drag the plate back after holding it down] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001780.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the cabinet to the right", "B.move the pot from the stove to the burner", "C.move the tissue roll to the top left corner of the table and put the bottle on the chair on the table", "D.drag the plate back after holding it down" ] }, { "task_id": "0001781", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.holding a clothes hanger and moving to the edge of the bed, tidying up the bed, B.remove the pen from the cup, C.place the block on the scale, D.put the black lid on the can] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001781.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.holding a clothes hanger and moving to the edge of the bed, tidying up the bed", "B.remove the pen from the cup", "C.place the block on the scale", "D.put the black lid on the can" ] }, { "task_id": "0001782", "task": "TrajChoice", "id": "RH20T_cfg2_task_0086_user_0014_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn on the light, B.take the glue stick out of the green cup and place it on the black box, then put the glue stick back in the green cup, C.build with large Megabloks for the nth time with n blocks, D.dial a number on an old rotary phone] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001782.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light", "B.take the glue stick out of the green cup and place it on the black box, then put the glue stick back in the green cup", "C.build with large Megabloks for the nth time with n blocks", "D.dial a number on an old rotary phone" ] }, { "task_id": "0001783", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the black marker in the white mug, B.pick up the glue stick from the table and place it in the bowl, C.plug in the bulb holder to the socket, D.push the green cloth backward], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001783.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black marker in the white mug", "B.pick up the glue stick from the table and place it in the bowl", "C.plug in the bulb holder to the socket", "D.push the green cloth backward" ] }, { "task_id": "0001784", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0001_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pulling the door handle to the open position, B.remove the lid from the lunch box on the table, C.pick up an object and put it on the table, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001784.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pulling the door handle to the open position", "B.remove the lid from the lunch box on the table", "C.pick up an object and put it on the table", "D.put the cup on the cup rack" ] }, { "task_id": "0001785", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a bag of things, B.throw the packaging bag and the tissue into the bin, C.put the bag on the right side of the chair back, D.water the plant] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001785.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.throw the packaging bag and the tissue into the bin", "C.put the bag on the right side of the chair back", "D.water the plant" ] }, { "task_id": "0001786", "task": "TrajChoice", "id": "RH20T_cfg1_task_0078_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the silver lid on the silver kettle, B.close the microwave door, C.put the glue stick in the bowl, D.put the yellow cable in the gray box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001786.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the silver lid on the silver kettle", "B.close the microwave door", "C.put the glue stick in the bowl", "D.put the yellow cable in the gray box" ] }, { "task_id": "0001787", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp one small block to sweep the other small block into the specified position, B.pick the marker from the cup and put it on the table, C.place the white towel into the large bowl on the right, D.pick up the lid and close the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001787.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp one small block to sweep the other small block into the specified position", "B.pick the marker from the cup and put it on the table", "C.place the white towel into the large bowl on the right", "D.pick up the lid and close the pot" ] }, { "task_id": "0001788", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the bubble ring from the assembled bubble ring and ball, B.put the plate on the bowl rack, C.take the white cloth from the stand and place it on the table, D.remove the object from the scale], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001788.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.put the plate on the bowl rack", "C.take the white cloth from the stand and place it on the table", "D.remove the object from the scale" ] }, { "task_id": "0001789", "task": "TrajChoice", "id": "RH20T_cfg6_task_0019_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.the white cloth on the folding table, B.put the straw in the can, C.remove the plush toy from the white bowl and place it on the table, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001789.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the white cloth on the folding table", "B.put the straw in the can", "C.remove the plush toy from the white bowl and place it on the table", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0001790", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the cup on its side, B.turn off the light, C.move the green mug towards you, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001790.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the cup on its side", "B.turn off the light", "C.move the green mug towards you", "D.press the button from top to bottom" ] }, { "task_id": "0001791", "task": "TrajChoice", "id": "RH20T_cfg2_task_0056_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the toy car on the table, B.stack the blocks into a cross shape, C.drag the plate to the goal post after holding it down, D.close the first drawer under the countertop near the fridge], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001791.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy car on the table", "B.stack the blocks into a cross shape", "C.drag the plate to the goal post after holding it down", "D.close the first drawer under the countertop near the fridge" ] }, { "task_id": "0001792", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the blue block in the drawer and close it, B.transfer the toy from the bowl to the table, C.sliding a towel on the sofa, D.insert the pencil into the pencil sharpener], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001792.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue block in the drawer and close it", "B.transfer the toy from the bowl to the table", "C.sliding a towel on the sofa", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0001793", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the knife on the cutting board, B.turn off the faucet, C.pick up the book from the sofa and put it on the counter, D.wipe the plate with the towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001793.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.turn off the faucet", "C.pick up the book from the sofa and put it on the counter", "D.wipe the plate with the towel" ] }, { "task_id": "0001794", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0009_cfg_0003_036422060909#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the orange bottle in the red bowl, B.grasp the moving object, C.take the pen to the left side of the table, D.put the green ball on the black dish and then close the sliding drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001794.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange bottle in the red bowl", "B.grasp the moving object", "C.take the pen to the left side of the table", "D.put the green ball on the black dish and then close the sliding drawer" ] }, { "task_id": "0001795", "task": "TrajChoice", "id": "RH20T_cfg2_task_0204_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the sprite can from the cabinet and put it on the countertop, B.put the marker in the bowl, C.put the marker on the table, D.Transfer all large pipette tips from one holder to another holder for large pipette tips], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001795.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the sprite can from the cabinet and put it on the countertop", "B.put the marker in the bowl", "C.put the marker on the table", "D.Transfer all large pipette tips from one holder to another holder for large pipette tips" ] }, { "task_id": "0001796", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the Rubik's cubes in the plastic box, B.pick up the lid and close the bowl, C.put the lid on the black pot, D.put the toilet paper on the holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001796.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the Rubik's cubes in the plastic box", "B.pick up the lid and close the bowl", "C.put the lid on the black pot", "D.put the toilet paper on the holder" ] }, { "task_id": "0001797", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the blue cap on the left and put it on the pile of caps, B.take the spice jar out of the shelf and place it on the table, C.remove a marker from the mug cup and place it on the table, D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001797.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue cap on the left and put it on the pile of caps", "B.take the spice jar out of the shelf and place it on the table", "C.remove a marker from the mug cup and place it on the table", "D.put the toilet paper on its holder" ] }, { "task_id": "0001798", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button on the right side of the machine, B.pick up the brush, C.move the black object slightly forward, then pick it up and put it on the shelf, D.pick up a bag of things], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001798.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the right side of the machine", "B.pick up the brush", "C.move the black object slightly forward, then pick it up and put it on the shelf", "D.pick up a bag of things" ] }, { "task_id": "0001799", "task": "TrajChoice", "id": "RH20T_cfg3_task_0092_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the white lid from the transparent box on the right, B.turn the hands of a clock, C.move the green cup to the left then put the blue bowl inside the orange bowl, D.put the block on the green block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001799.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white lid from the transparent box on the right", "B.turn the hands of a clock", "C.move the green cup to the left then put the blue bowl inside the orange bowl", "D.put the block on the green block" ] }, { "task_id": "0001800", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.slide open the board, B.put the ball on the scale, C.press the red button on the orange base from top to bottom, D.pick up the hand roller, then move it back and forth on the towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001800.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide open the board", "B.put the ball on the scale", "C.press the red button on the orange base from top to bottom", "D.pick up the hand roller, then move it back and forth on the towel" ] }, { "task_id": "0001801", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0007_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the clothes from the table and put them in the box, B.put the bottle on the microwave, C.push an object with obstacles, D.pick the lid on the tray and put it on the pan], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001801.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the clothes from the table and put them in the box", "B.put the bottle on the microwave", "C.push an object with obstacles", "D.pick the lid on the tray and put it on the pan" ] }, { "task_id": "0001802", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the yellow cube from the table to the blue cup, B.turn off the desk lamp by pressing the button, C.put the white cable into the box, D.put the green and blue cylinders into the broken cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001802.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the yellow cube from the table to the blue cup", "B.turn off the desk lamp by pressing the button", "C.put the white cable into the box", "D.put the green and blue cylinders into the broken cup" ] }, { "task_id": "0001803", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.put the pen in the cup, C.pull out a paper towel from the dispenser and place it on the countertop, then put the black mug on top of the paper towel, D.close the cabinet door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001803.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the pen in the cup", "C.pull out a paper towel from the dispenser and place it on the countertop, then put the black mug on top of the paper towel", "D.close the cabinet door" ] }, { "task_id": "0001804", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0010_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the hands of a clock, B.pick up the pen from the table and put it in the mug cup, C.press a button on the right side of the keyboard, D.rotate the steering wheel 90 degrees counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001804.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.pick up the pen from the table and put it in the mug cup", "C.press a button on the right side of the keyboard", "D.rotate the steering wheel 90 degrees counterclockwise" ] }, { "task_id": "0001805", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up one small block, B.unfold the towel, C.take the kitchen sponge out of the white bowl and use it to scrub the counter, D.move the green object from the sink to the left counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001805.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up one small block", "B.unfold the towel", "C.take the kitchen sponge out of the white bowl and use it to scrub the counter", "D.move the green object from the sink to the left counter" ] }, { "task_id": "0001806", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the white towel into the black box, B.pull the spout to the left, C.move the bottle closer to the right back corner, D.pull out a napkin, place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001806.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white towel into the black box", "B.pull the spout to the left", "C.move the bottle closer to the right back corner", "D.pull out a napkin, place it on the table" ] }, { "task_id": "0001807", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the roll of paper down from the shelf, B.place the plush toy next to the towel, C.move the green object to the left, D.place the red marker on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001807.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.place the plush toy next to the towel", "C.move the green object to the left", "D.place the red marker on the table" ] }, { "task_id": "0001808", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.grasp the handle and open the drawer, B.moving the black cloth from the inside of the table and placing it on the lid, holding the lid and the cloth and moving them from the table to the pot, moving the black cloth from the lid and placing it back on the table, C.open the book, D.pick up a bag of things] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001808.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.moving the black cloth from the inside of the table and placing it on the lid, holding the lid and the cloth and moving them from the table to the pot, moving the black cloth from the lid and placing it back on the table", "C.open the book", "D.pick up a bag of things" ] }, { "task_id": "0001809", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the plush toy to the right, B.make the toaster upright, C.play the first move as black on the 3-4 point in the upper right corner of the Go board, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001809.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plush toy to the right", "B.make the toaster upright", "C.play the first move as black on the 3-4 point in the upper right corner of the Go board", "D.place the block on the scale" ] }, { "task_id": "0001810", "task": "TrajChoice", "id": "RH20T_cfg5_task_0022_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the spoon to the right, B.push down on the button on the mouse, C.put the marker in the mug, D.wave the flag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001810.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spoon to the right", "B.push down on the button on the mouse", "C.put the marker in the mug", "D.wave the flag" ] }, { "task_id": "0001811", "task": "TrajChoice", "id": "RH20T_cfg7_task_0066_user_0020_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the open drawer, B.build with large megabloks for the nth time with n blocks, C.move the bottle to the right, D.turn off the lights] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001811.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the open drawer", "B.build with large megabloks for the nth time with n blocks", "C.move the bottle to the right", "D.turn off the lights" ] }, { "task_id": "0001812", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0005_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding telephone cradle, B.open the lid of the bucket outward, C.put the blue block on the side of the table, D.turn the knob to increase the volume of the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001812.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding telephone cradle", "B.open the lid of the bucket outward", "C.put the blue block on the side of the table", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0001813", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the small block on the left and move it to the right, B.pick up the pen from the table and put it in the mug cup, C.shake the test tube, D.water the plant] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001813.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.pick up the pen from the table and put it in the mug cup", "C.shake the test tube", "D.water the plant" ] }, { "task_id": "0001814", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the switch at the first from the bottom, B.put the object in the drawer, C.take the object down from the shelf, D.put the cup in the middle of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001814.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch at the first from the bottom", "B.put the object in the drawer", "C.take the object down from the shelf", "D.put the cup in the middle of the table" ] }, { "task_id": "0001815", "task": "TrajChoice", "id": "RH20T_cfg1_task_0085_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the keyboard, B.transfer the ball from the bubble ring to the desktop, C.remove the marker from the mug and place it on the table, D.put the blue marker on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001815.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the keyboard", "B.transfer the ball from the bubble ring to the desktop", "C.remove the marker from the mug and place it on the table", "D.put the blue marker on the table" ] }, { "task_id": "0001816", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.move some objects from the bowl on the left into the bowl on the right, C.move the tap nozzle to the right, D.installing the light bulb by rotating it], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001816.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move some objects from the bowl on the left into the bowl on the right", "C.move the tap nozzle to the right", "D.installing the light bulb by rotating it" ] }, { "task_id": "0001818", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the green towel to the right, B.pick up the red cup, C.put the empty plastic snack packaging beside the plate, D.move the white and blue cup from the right side of the sink to the left side of the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001818.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green towel to the right", "B.pick up the red cup", "C.put the empty plastic snack packaging beside the plate", "D.move the white and blue cup from the right side of the sink to the left side of the sink" ] }, { "task_id": "0001819", "task": "TrajChoice", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the box behind the table, B.put the cup on the desk into the cup, C.take everything out of the gift box, D.put the snack pack on the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001819.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the box behind the table", "B.put the cup on the desk into the cup", "C.take everything out of the gift box", "D.put the snack pack on the shelf" ] }, { "task_id": "0001820", "task": "TrajChoice", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#309", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take everything out of the gift box, B.move the grey piece of clothing from the left open drawer to the right open drawer, C.take up the marker, D.put the bagged item into the box and pull the box to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001820.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.move the grey piece of clothing from the left open drawer to the right open drawer", "C.take up the marker", "D.put the bagged item into the box and pull the box to the right" ] }, { "task_id": "0001821", "task": "TrajChoice", "id": "RH20T_cfg2_task_0061_user_0007_scene_0005_cfg_0002_037522062165#546", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the lid from the pot and place it on the table, B.rotate the faucet counterclockwise, C.put the bag on the oven, D.take everything out of the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001821.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid from the pot and place it on the table", "B.rotate the faucet counterclockwise", "C.put the bag on the oven", "D.take everything out of the gift box" ] }, { "task_id": "0001822", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the tape on the opened drawer into the green tape, B.pick up the lid from the tray and put it on the cup, C.put the bottle in the bag, D.insert the tip of a medium pipette into the holder for medium pipette tips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001822.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tape on the opened drawer into the green tape", "B.pick up the lid from the tray and put it on the cup", "C.put the bottle in the bag", "D.insert the tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0001823", "task": "TrajChoice", "id": "RH20T_cfg1_task_0122_user_0010_scene_0009_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use the towel to wipe the plate, B.put the knife on the cutting board, C.fold the paper towel, D.open the first flat drawer of the side cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001823.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the plate", "B.put the knife on the cutting board", "C.fold the paper towel", "D.open the first flat drawer of the side cabinet" ] }, { "task_id": "0001824", "task": "TrajChoice", "id": "RH20T_cfg1_task_0089_user_0010_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the lid from the glass food container and put it on the table, B.push an object with obstacles, C.open the drawer and place the cube on the table, D.put the straws inside the tea cup then put the cup and the side plate inside the top cupboard], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001824.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the glass food container and put it on the table", "B.push an object with obstacles", "C.open the drawer and place the cube on the table", "D.put the straws inside the tea cup then put the cup and the side plate inside the top cupboard" ] }, { "task_id": "0001825", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the pot to behind the stove and cover the pot with the lid, B.put the white object on the table, C.press the green button, D.put the black lid on the grey pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001825.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pot to behind the stove and cover the pot with the lid", "B.put the white object on the table", "C.press the green button", "D.put the black lid on the grey pot" ] }, { "task_id": "0001827", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0003_scene_0004_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the glass lid on the pot, B.press the button from top to bottom, C.pick up the green block and put it in the bowl, D.take the plush toy out of the drawer and put it on the counter, then close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001827.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the glass lid on the pot", "B.press the button from top to bottom", "C.pick up the green block and put it in the bowl", "D.take the plush toy out of the drawer and put it on the counter, then close the drawer" ] }, { "task_id": "0001828", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the orange cup from the wooden rack and place it on the table, then take the grey tape and wrap it around the orange cup, B.throw the drumsticks onto the drum, C.move the umbrella to the left side of the table, D.remove the lid from the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001828.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the orange cup from the wooden rack and place it on the table, then take the grey tape and wrap it around the orange cup", "B.throw the drumsticks onto the drum", "C.move the umbrella to the left side of the table", "D.remove the lid from the pot" ] }, { "task_id": "0001829", "task": "TrajChoice", "id": "RH20T_cfg1_task_0019_user_0001_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents in the orange cup into the white bowl, B.play the first move as black on the 3-4 point in the upper right corner of the Go board, C.push the can to the right, D.move the object into the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001829.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the orange cup into the white bowl", "B.play the first move as black on the 3-4 point in the upper right corner of the Go board", "C.push the can to the right", "D.move the object into the green bowl" ] }, { "task_id": "0001830", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the bowl and put it on the table, B.take everything out of the gift box, C.move the pot, D.put the cup into the microwave] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001830.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the bowl and put it on the table", "B.take everything out of the gift box", "C.move the pot", "D.put the cup into the microwave" ] }, { "task_id": "0001831", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#127", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wave the flag, B.take everything out of the gift box, C.put the green object on the table, D.place the towel on the desk above the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001831.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.take everything out of the gift box", "C.put the green object on the table", "D.place the towel on the desk above the box" ] }, { "task_id": "0001832", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0005_cfg_0007_104122064161#192", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take everything out of the gift box, B.put the object on the table, C.put the object into the bowl, D.put the glasses on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001832.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.put the object on the table", "C.put the object into the bowl", "D.put the glasses on the table" ] }, { "task_id": "0001833", "task": "TrajChoice", "id": "RH20T_cfg5_task_0080_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the lid off the pot, B.place the pieces on the chessboard, C.finish setting up the starting position of a chessboard that is almost arranged, D.flip over and spread out the paper that is laid flat on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001833.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off the pot", "B.place the pieces on the chessboard", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0001834", "task": "TrajChoice", "id": "RH20T_cfg1_task_0059_user_0014_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the fabric on the top of the shelf, B.turn the knob to increase the volume of the speaker, C.press the black object, D.pick up the transparent bottle on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001834.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fabric on the top of the shelf", "B.turn the knob to increase the volume of the speaker", "C.press the black object", "D.pick up the transparent bottle on the table" ] }, { "task_id": "0001835", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.scrubbing the table with a brush, B.press the coffee machine switch, C.open the drawer, D.pick up the small block on the left and move it to the right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001835.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.press the coffee machine switch", "C.open the drawer", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0001836", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the pen on the table into the mug, B.turn on the desk lamp by pressing the button, C.take the shirt out of the white box and hang it on the chair, D.take a bottle from the clear bowl and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001836.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the pen on the table into the mug", "B.turn on the desk lamp by pressing the button", "C.take the shirt out of the white box and hang it on the chair", "D.take a bottle from the clear bowl and put it on the table" ] }, { "task_id": "0001837", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0011_scene_0007_cfg_0003_036422060909#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block on the scale, B.put the pen into the pen holder, C.take the object to the table, D.drop coins into a piggy bank] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001837.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.put the pen into the pen holder", "C.take the object to the table", "D.drop coins into a piggy bank" ] }, { "task_id": "0001839", "task": "TrajChoice", "id": "RH20T_cfg5_task_0056_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the spoon, rotate it, and put it down, B.move the waste basket to the left side of the counter, C.receive something handed over by a human, D.close the faucet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001839.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the spoon, rotate it, and put it down", "B.move the waste basket to the left side of the counter", "C.receive something handed over by a human", "D.close the faucet" ] }, { "task_id": "0001841", "task": "TrajChoice", "id": "RH20T_cfg5_task_0036_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the marker to the left side of the mug, B.remove the marker from the mug, C.shake the test tube, D.close the tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001841.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the left side of the mug", "B.remove the marker from the mug", "C.shake the test tube", "D.close the tap" ] }, { "task_id": "0001842", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.place the green lid on the table, C.push the bamboo dragonfly from the back side of the table to the front side of the table, D.rotate the tray], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001842.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.place the green lid on the table", "C.push the bamboo dragonfly from the back side of the table to the front side of the table", "D.rotate the tray" ] }, { "task_id": "0001843", "task": "TrajChoice", "id": "RH20T_cfg5_task_0104_user_0007_scene_0003_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.hit the pool ball, B.play jenga, C.drag the plate back after holding it down, D.put the black bracelet into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001843.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.play jenga", "C.drag the plate back after holding it down", "D.put the black bracelet into the box" ] }, { "task_id": "0001844", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the circle from the stand to the table, B.put the pen into the pen holder, C.dragging the plate back after holding it down, D.pour the contents in the cup into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001844.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the circle from the stand to the table", "B.put the pen into the pen holder", "C.dragging the plate back after holding it down", "D.pour the contents in the cup into the bowl" ] }, { "task_id": "0001845", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents of the bowl into the box, B.spread the clothes on the table, C.put the marker on the table into the pot, D.put the toilet paper on its holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001845.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl into the box", "B.spread the clothes on the table", "C.put the marker on the table into the pot", "D.put the toilet paper on its holder" ] }, { "task_id": "0001846", "task": "TrajChoice", "id": "RH20T_cfg4_task_0063_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the spatula on top of the black pot and put it inside the pot, B.use a shovel to scoop up an object, C.put the orange cup inside the sink then open the tap faucet, D.place the small block on the left desk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001846.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the spatula on top of the black pot and put it inside the pot", "B.use a shovel to scoop up an object", "C.put the orange cup inside the sink then open the tap faucet", "D.place the small block on the left desk" ] }, { "task_id": "0001847", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the cube on the table, B.turn the hands of a clock, C.flip the cup over, D.put the paper cup on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001847.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cube on the table", "B.turn the hands of a clock", "C.flip the cup over", "D.put the paper cup on the table" ] }, { "task_id": "0001848", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.wipe the whiteboard with a blackboard eraser, B.turn on the power strip by pressing the button, C.move the wooden spoon to the right, D.open the book on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001848.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the whiteboard with a blackboard eraser", "B.turn on the power strip by pressing the button", "C.move the wooden spoon to the right", "D.open the book on the table" ] }, { "task_id": "0001849", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the green toy and move it close to the edge of the table, B.put the cup on the cup rack, C.grasp a block to sweep the other block into the designated position, D.move the clothes rack to the right side of the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001849.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green toy and move it close to the edge of the table", "B.put the cup on the cup rack", "C.grasp a block to sweep the other block into the designated position", "D.move the clothes rack to the right side of the shelf" ] }, { "task_id": "0001850", "task": "TrajChoice", "id": "RH20T_cfg6_task_0006_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the toothbrush from the toothbrush holder and put it on the base top to the right side, B.move the green cup and place it into the plate, C.pick up the marker in the mug and put it on the table, D.push the small block from right to left with the gripper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001850.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the toothbrush from the toothbrush holder and put it on the base top to the right side", "B.move the green cup and place it into the plate", "C.pick up the marker in the mug and put it on the table", "D.push the small block from right to left with the gripper" ] }, { "task_id": "0001851", "task": "TrajChoice", "id": "RH20T_cfg2_task_0010_user_0003_scene_0008_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up and place an object with obstacles, B.use the blue cloth to wipe the board, C.place the handset of the telephone on the corresponding phone cradle, D.pour the object in the transparent container on the desktop onto the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001851.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.use the blue cloth to wipe the board", "C.place the handset of the telephone on the corresponding phone cradle", "D.pour the object in the transparent container on the desktop onto the towel" ] }, { "task_id": "0001852", "task": "TrajChoice", "id": "RH20T_cfg5_task_0085_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cup from the cabinet onto the table, B.remove the bubble ring from the assembled bubble ring and ball, C.put the orange object into the black bowl, D.put the brown object in the dish], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001852.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup from the cabinet onto the table", "B.remove the bubble ring from the assembled bubble ring and ball", "C.put the orange object into the black bowl", "D.put the brown object in the dish" ] }, { "task_id": "0001853", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button on the white lid of the bowl, B.place the block on the scale, C.open the drawer, D.move the paper towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001853.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the white lid of the bowl", "B.place the block on the scale", "C.open the drawer", "D.move the paper towel" ] }, { "task_id": "0001854", "task": "TrajChoice", "id": "RH20T_cfg7_task_0066_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up and place an object with obstacles, B.put a mat on the top of the microwave, C.build with large megabloks for the nth time with n blocks, D.swat with a flyswatter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001854.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.put a mat on the top of the microwave", "C.build with large megabloks for the nth time with n blocks", "D.swat with a flyswatter" ] }, { "task_id": "0001855", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the pen from the cup and put it on the table, B.pick up the egg and put it in the cup, C.Assemble: Attach the bubble ring to the ball, D.move the book to the right side of the other book], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001855.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the table", "B.pick up the egg and put it in the cup", "C.Assemble: Attach the bubble ring to the ball", "D.move the book to the right side of the other book" ] }, { "task_id": "0001856", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup from the left side of the table to the right side of the table, B.take two cubes out of the box and stack them on the table, C.put the screwdriver in the first top open drawer then close the drawer, D.move the grey towel to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001856.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup from the left side of the table to the right side of the table", "B.take two cubes out of the box and stack them on the table", "C.put the screwdriver in the first top open drawer then close the drawer", "D.move the grey towel to the right" ] }, { "task_id": "0001857", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0002_cfg_0003_104122062823#178", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open a sliding window, B.take two cubes out of the box and stack them on the table, C.pour the object from the cup into the bowl, D.open the faucet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001857.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.take two cubes out of the box and stack them on the table", "C.pour the object from the cup into the bowl", "D.open the faucet" ] }, { "task_id": "0001858", "task": "TrajChoice", "id": "RH20T_cfg6_task_0011_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the pen and put it in the glass cup, B.use a cloth to wipe the plate, C.water the plant, D.move the basket towards the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001858.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen and put it in the glass cup", "B.use a cloth to wipe the plate", "C.water the plant", "D.move the basket towards the right" ] }, { "task_id": "0001859", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the drawer and remove the pineapple plushie from the drawer, B.move the object in the bowl to the table, C.move an object from one box to another, D.close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001859.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer and remove the pineapple plushie from the drawer", "B.move the object in the bowl to the table", "C.move an object from one box to another", "D.close the drawer" ] }, { "task_id": "0001860", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.cover the box, B.remove the capsule from the bowl and put it into the box, C.drop a coin into a piggy bank, D.press the button on the power strip] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001860.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.remove the capsule from the bowl and put it into the box", "C.drop a coin into a piggy bank", "D.press the button on the power strip" ] }, { "task_id": "0001861", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the toilet paper on its holder, B.put the donut toy on the orange plate, C.put the packet in the box, D.open the top left cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001861.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the donut toy on the orange plate", "C.put the packet in the box", "D.open the top left cabinet door" ] }, { "task_id": "0001862", "task": "TrajChoice", "id": "RH20T_cfg6_task_0046_user_0020_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the packaging bag from the table to the box, B.put the cup on the cup rack, C.place the iron's pressing switch in the right position, D.remove the straw from the can and put it on the left side of the can] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001862.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the packaging bag from the table to the box", "B.put the cup on the cup rack", "C.place the iron's pressing switch in the right position", "D.remove the straw from the can and put it on the left side of the can" ] }, { "task_id": "0001863", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the cup and put it on the table, B.slide the green towel to the right, C.take the orange cup from the open case and place it on the white box, D.put the pen into the pen holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001863.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup and put it on the table", "B.slide the green towel to the right", "C.take the orange cup from the open case and place it on the white box", "D.put the pen into the pen holder" ] }, { "task_id": "0001864", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.rotate the steering wheel 90 degrees clockwise, B.pick the garment on the black chair and place it on the sofa, C.put the lid on the pot, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001864.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.pick the garment on the black chair and place it on the sofa", "C.put the lid on the pot", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0001865", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0005_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the block on the scale, B.open a box, C.open the drawer, D.put the hair ribbon into the purse], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001865.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.open a box", "C.open the drawer", "D.put the hair ribbon into the purse" ] }, { "task_id": "0001866", "task": "TrajChoice", "id": "RH20T_cfg1_task_0060_user_0001_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pull out the storage box, B.take the marker from the black cup and put it on the table, C.clean the desk, D.adjust the volume of the speaker by turning the knob], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001866.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out the storage box", "B.take the marker from the black cup and put it on the table", "C.clean the desk", "D.adjust the volume of the speaker by turning the knob" ] }, { "task_id": "0001867", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.water the plant, B.put the rubber band on the table, C.Insert the tip of a large pipette into the holder for large pipette tips, D.close the door of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001867.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.put the rubber band on the table", "C.Insert the tip of a large pipette into the holder for large pipette tips", "D.close the door of the cabinet" ] }, { "task_id": "0001868", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cup in the sink, B.unscrew the lid from the jar, C.open the middle topmost drawer and take out two black objects, D.put the red marker on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001868.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the sink", "B.unscrew the lid from the jar", "C.open the middle topmost drawer and take out two black objects", "D.put the red marker on the table" ] }, { "task_id": "0001870", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a bag of things and move it down to place it on the table, B.use the white napkin to wipe the blue book, C.move the green cup upwards, D.push the lid of the wet wipes box to close the lid] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001870.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things and move it down to place it on the table", "B.use the white napkin to wipe the blue book", "C.move the green cup upwards", "D.push the lid of the wet wipes box to close the lid" ] }, { "task_id": "0001871", "task": "TrajChoice", "id": "RH20T_cfg4_task_0019_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button on the remote control, B.pick up the tissue and then put it in the bowl, C.pick up the marker from the cup and put it on the table, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001871.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the remote control", "B.pick up the tissue and then put it in the bowl", "C.pick up the marker from the cup and put it on the table", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0001872", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0003_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.grasp the handle and open the drawer, B.put the drumsticks on the drum, C.remove the banana from the pot, D.put the brown square into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001872.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.put the drumsticks on the drum", "C.remove the banana from the pot", "D.put the brown square into the bowl" ] }, { "task_id": "0001873", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0014_scene_0006_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.connect the black objects together, C.clean the tabletop with a sponge, D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001873.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.connect the black objects together", "C.clean the tabletop with a sponge", "D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb" ] }, { "task_id": "0001874", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the small block from the right to the left, B.pour the contents in the blue cup onto the green plate, C.fold the yellow towel in half, D.cover the pot with the lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001874.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block from the right to the left", "B.pour the contents in the blue cup onto the green plate", "C.fold the yellow towel in half", "D.cover the pot with the lid" ] }, { "task_id": "0001875", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0018_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the garbage in the trash can, B.remove the white cloth from the black stand, C.open the lid of the coffee machine upwards, D.the pharmaceutical experiment will insert a tip of a medium pipette into the holder for medium pipette tips] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001875.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.remove the white cloth from the black stand", "C.open the lid of the coffee machine upwards", "D.the pharmaceutical experiment will insert a tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0001876", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the black marker inside the mug, B.put the dish on the dish rack, C.turn on the light by pressing the switch on the wall, D.move the lunch box to the right, move the block to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001876.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black marker inside the mug", "B.put the dish on the dish rack", "C.turn on the light by pressing the switch on the wall", "D.move the lunch box to the right, move the block to the left" ] }, { "task_id": "0001877", "task": "TrajChoice", "id": "RH20T_cfg6_task_0016_user_0014_scene_0010_cfg_0006_104122061330#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.hit the pool ball, B.take out the hat after opening the drawer and close the drawer, C.close the detergent dispenser of the washing machine to the left, D.pick up the object from the table and put it in the tray], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001877.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.take out the hat after opening the drawer and close the drawer", "C.close the detergent dispenser of the washing machine to the left", "D.pick up the object from the table and put it in the tray" ] }, { "task_id": "0001878", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the power strip by pressing the button, B.take an object from the container and put it on the bed, C.place the cup on the base, D.put the pen into the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001878.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.take an object from the container and put it on the bed", "C.place the cup on the base", "D.put the pen into the pen holder" ] }, { "task_id": "0001879", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the bin, B.drag the plate to the goal post after holding it down, C.wipe the sink with a tissue, D.push the block backward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001879.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bin", "B.drag the plate to the goal post after holding it down", "C.wipe the sink with a tissue", "D.push the block backward" ] }, { "task_id": "0001880", "task": "TrajChoice", "id": "RH20T_cfg3_task_0059_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the blue clothes on the backrest of the chair, B.turn the knob to increase the volume of the speaker, C.put the blue sachet on the right shelf, D.put the knife on the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001880.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue clothes on the backrest of the chair", "B.turn the knob to increase the volume of the speaker", "C.put the blue sachet on the right shelf", "D.put the knife on the plate" ] }, { "task_id": "0001881", "task": "TrajChoice", "id": "RH20T_cfg1_task_0201_user_0015_scene_0002_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.throw the pink cloth onto the chair, B.Insert the tip of a medium pipette into the holder for medium pipette tips, C.remove the plug from the sink drain, D.put the lid on the blue pot] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001881.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the pink cloth onto the chair", "B.Insert the tip of a medium pipette into the holder for medium pipette tips", "C.remove the plug from the sink drain", "D.put the lid on the blue pot" ] }, { "task_id": "0001882", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup forward, B.transfer the marker from the cup to the table, C.grasp a small block to sweep another small block into the designated position, D.pick up the black container from the stool and place it on top of the washing machine], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001882.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup forward", "B.transfer the marker from the cup to the table", "C.grasp a small block to sweep another small block into the designated position", "D.pick up the black container from the stool and place it on top of the washing machine" ] }, { "task_id": "0001883", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0003_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the small block on the left and move it to the right, B.remove the object from the scale, C.pick up the pen from the mug and put it on the table, D.put the towel from the cabinet onto the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001883.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.remove the object from the scale", "C.pick up the pen from the mug and put it on the table", "D.put the towel from the cabinet onto the table" ] }, { "task_id": "0001884", "task": "TrajChoice", "id": "RH20T_cfg4_task_0068_user_0007_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press a button horizontally with obstacles, B.folding clothes, C.pour the contents of the brown cup into the bowl, D.take the white cloth out of the drawer and place it on the bed], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001884.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally with obstacles", "B.folding clothes", "C.pour the contents of the brown cup into the bowl", "D.take the white cloth out of the drawer and place it on the bed" ] }, { "task_id": "0001885", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the cable from the plastic bag and put it on the table, B.pick up the small block on the left and move it to the right, C.push the faucet to the left, D.put the cup on the rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001885.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the cable from the plastic bag and put it on the table", "B.pick up the small block on the left and move it to the right", "C.push the faucet to the left", "D.put the cup on the rack" ] }, { "task_id": "0001886", "task": "TrajChoice", "id": "RH20T_cfg5_task_0022_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wave the flag, B.move the white bottle to the left, C.open the container, D.put the blue mug on the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001886.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.move the white bottle to the left", "C.open the container", "D.put the blue mug on the plate" ] }, { "task_id": "0001887", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the toaster oven door, B.remove an object from the tray and put it on the table, C.move the object to the green bowl, D.assemble: attach the bubble ring to the ball] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001887.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the toaster oven door", "B.remove an object from the tray and put it on the table", "C.move the object to the green bowl", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0001888", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the pillow to the designated position, B.push the pillow forward, C.place the ring on the table, D.pick up a bag of things] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001888.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pillow to the designated position", "B.push the pillow forward", "C.place the ring on the table", "D.pick up a bag of things" ] }, { "task_id": "0001889", "task": "TrajChoice", "id": "RH20T_cfg1_task_0059_user_0001_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.cleaning the table, B.open the microwave door, C.put the marker in the top cabinet, D.turn the knob to increase the volume of the speaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001889.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cleaning the table", "B.open the microwave door", "C.put the marker in the top cabinet", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0001890", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the blue cylinder out of the white bowl and put it into the wooden box, B.insert the pencil into the pencil sharpener, C.straighten up the paper towel on the table, D.put the cup on the right side of its original position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001890.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue cylinder out of the white bowl and put it into the wooden box", "B.insert the pencil into the pencil sharpener", "C.straighten up the paper towel on the table", "D.put the cup on the right side of its original position" ] }, { "task_id": "0001891", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the orange lid out of the open cupboard and put it on the counter, B.remove the bubble ring from the assembled bubble ring and ball, C.put the toy on the shelf, D.remove the lemon from the grey pot and place it inside the grey pot] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001891.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the orange lid out of the open cupboard and put it on the counter", "B.remove the bubble ring from the assembled bubble ring and ball", "C.put the toy on the shelf", "D.remove the lemon from the grey pot and place it inside the grey pot" ] }, { "task_id": "0001892", "task": "TrajChoice", "id": "RH20T_cfg3_task_0092_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the hands of a clock, B.move the object to the right, C.unfold the tablecloth, D.clean the table with a cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001892.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.move the object to the right", "C.unfold the tablecloth", "D.clean the table with a cloth" ] }, { "task_id": "0001893", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.pulling the drawer handle opens the drawer, C.move the object into the green bowl, D.remove the green object out of the orange bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001893.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.pulling the drawer handle opens the drawer", "C.move the object into the green bowl", "D.remove the green object out of the orange bowl" ] }, { "task_id": "0001894", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up and place an object with obstacles, B.move the cucumber from the blue plate to the grey tray, C.place the lid on the pot, D.turn the tap nozzle to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001894.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.move the cucumber from the blue plate to the grey tray", "C.place the lid on the pot", "D.turn the tap nozzle to the right" ] }, { "task_id": "0001895", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.scrubbing the table with a brush, B.flip the switch on the wall, C.open the microwave door, D.grab the cup on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001895.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.flip the switch on the wall", "C.open the microwave door", "D.grab the cup on the table" ] }, { "task_id": "0001896", "task": "TrajChoice", "id": "RH20T_cfg4_task_0222_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the calculator from the plate onto the table, B.cover the pot with the lid, C.pour the contents of the cup into the bowl, D.close the left cabinet door] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001896.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the calculator from the plate onto the table", "B.cover the pot with the lid", "C.pour the contents of the cup into the bowl", "D.close the left cabinet door" ] }, { "task_id": "0001897", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the block on the scale, B.the folded blanket, C.click the left button on the mouse, D.the zipper], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001897.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.the folded blanket", "C.click the left button on the mouse", "D.the zipper" ] }, { "task_id": "0001898", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0014_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drop a coin into the piggy bank, B.move the ball to the edge of the table, C.remove the marker from the mug cup, D.put the elastic around the bottle] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001898.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into the piggy bank", "B.move the ball to the edge of the table", "C.remove the marker from the mug cup", "D.put the elastic around the bottle" ] }, { "task_id": "0001899", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the water from one cup into another empty cup, B.take the marker out of the mug, C.place the handset of the telephone on the corresponding phone cradle, D.put the marker in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001899.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.take the marker out of the mug", "C.place the handset of the telephone on the corresponding phone cradle", "D.put the marker in the mug" ] }, { "task_id": "0001900", "task": "TrajChoice", "id": "RH20T_cfg4_task_0050_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the object from the scale, B.put the dish on the dish rack, C.take the glue stick out of the cup and put it on the table, D.remove the marker from the white mug and place it on the chair] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001900.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.put the dish on the dish rack", "C.take the glue stick out of the cup and put it on the table", "D.remove the marker from the white mug and place it on the chair" ] }, { "task_id": "0001901", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.removing the light bulb by rotating it, B.close the lid on the rice cooker, C.turn on the faucet, D.move the gray towel on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001901.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.removing the light bulb by rotating it", "B.close the lid on the rice cooker", "C.turn on the faucet", "D.move the gray towel on the table" ] }, { "task_id": "0001902", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.unfold the leg of the glasses (with one hand), B.take the pen from the bowl and put it on the table, C.put the black lid on the mouthwash bottle, D.take the spatula from the counter and put it in the utensil holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001902.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.take the pen from the bowl and put it on the table", "C.put the black lid on the mouthwash bottle", "D.take the spatula from the counter and put it in the utensil holder" ] }, { "task_id": "0001903", "task": "TrajChoice", "id": "RH20T_cfg2_task_0019_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the contents in the pack into the bowl, B.put the cup upright on the table, C.the first move of black in Go is played on the 3-4 point on the board, D.take the roll of paper down from the shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001903.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the pack into the bowl", "B.put the cup upright on the table", "C.the first move of black in Go is played on the 3-4 point on the board", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0001904", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the coffee maker, B.press the key on the keyboard, C.pick up the trash from the tablecloth, D.move the tape to the microwave] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001904.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the coffee maker", "B.press the key on the keyboard", "C.pick up the trash from the tablecloth", "D.move the tape to the microwave" ] }, { "task_id": "0001905", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pour the contents of the plate into the container, B.insert the pencil into the pencil sharpener, C.pick up the object from the green bowl and place it on the stove, D.put the green toy in the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001905.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the plate into the container", "B.insert the pencil into the pencil sharpener", "C.pick up the object from the green bowl and place it on the stove", "D.put the green toy in the plate" ] }, { "task_id": "0001906", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0004_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open a sliding window, B.put the can on the metal item, C.pick up the white towel with blue stripes, wipe inside the black pan and put the towel back on the table, D.pick up the black chess piece from the desk and place it on the chessboard], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001906.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.put the can on the metal item", "C.pick up the white towel with blue stripes, wipe inside the black pan and put the towel back on the table", "D.pick up the black chess piece from the desk and place it on the chessboard" ] }, { "task_id": "0001907", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the spray bottle from the arm rest to the window sill, B.use the gripper to push and close the drawer, C.put the glue stick into the mug, D.put the bottle upright on the shelf] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001907.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spray bottle from the arm rest to the window sill", "B.use the gripper to push and close the drawer", "C.put the glue stick into the mug", "D.put the bottle upright on the shelf" ] }, { "task_id": "0001908", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.cover the pot, B.rotate the steering wheel 90 degrees clockwise, C.put the object on the table into the box, D.pour the contents from the right pot into the black pot] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001908.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot", "B.rotate the steering wheel 90 degrees clockwise", "C.put the object on the table into the box", "D.pour the contents from the right pot into the black pot" ] }, { "task_id": "0001909", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0020_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the wooden block from the light-green bowl, B.turn the tap nozzle to the right, C.put the bottle in the bag on the table, D.pour the water from one cup into another empty cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001909.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the wooden block from the light-green bowl", "B.turn the tap nozzle to the right", "C.put the bottle in the bag on the table", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0001910", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the marker and put it in the cup, B.flip over and spread out the paper that is laid flat on the table, C.remove the object from the scale, D.place the toy on the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001910.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the cup", "B.flip over and spread out the paper that is laid flat on the table", "C.remove the object from the scale", "D.place the toy on the bowl" ] }, { "task_id": "0001911", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the blue block from the orange plate to the table, B.remove the pen from the coffee cup, C.pick up the object on the box and put it on the table, D.grab the block and place it at the designated location], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001911.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue block from the orange plate to the table", "B.remove the pen from the coffee cup", "C.pick up the object on the box and put it on the table", "D.grab the block and place it at the designated location" ] }, { "task_id": "0001912", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0015_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.scrub the table with a brush, B.turn the remote around and press the remote button, C.put the transparent bowl and the items in the transparent bowl on the table, D.close the open upper cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001912.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrub the table with a brush", "B.turn the remote around and press the remote button", "C.put the transparent bowl and the items in the transparent bowl on the table", "D.close the open upper cabinet door" ] }, { "task_id": "0001913", "task": "TrajChoice", "id": "RH20T_cfg3_task_0092_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the power strip by pressing the switch, B.put the bottle on the table, C.turn the hands of a clock, D.close the grey coffee maker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001913.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the switch", "B.put the bottle on the table", "C.turn the hands of a clock", "D.close the grey coffee maker" ] }, { "task_id": "0001914", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the object on the scale, B.put the white box into the bag, C.put the cube in the sink, D.pick up and place an object with obstacles], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001914.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the object on the scale", "B.put the white box into the bag", "C.put the cube in the sink", "D.pick up and place an object with obstacles" ] }, { "task_id": "0001915", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.plug in the power cord to the socket, B.pick up the lid and put it on the pot, C.open the drawer, D.set the white tube upright on the right side of the counter] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001915.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.pick up the lid and put it on the pot", "C.open the drawer", "D.set the white tube upright on the right side of the counter" ] }, { "task_id": "0001916", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker from the bowl and put it on the table, B.turn on the desk lamp by pressing the button, C.move the purple pack to the right and behind the cups, D.grab an object from the silver barrel and place it on the black shelf] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001916.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the bowl and put it on the table", "B.turn on the desk lamp by pressing the button", "C.move the purple pack to the right and behind the cups", "D.grab an object from the silver barrel and place it on the black shelf" ] }, { "task_id": "0001917", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.flip the purple cup over, B.press on the button of the stove, C.place the block on the black circle, D.hang the grey clothing on the first rod of the rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001917.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip the purple cup over", "B.press on the button of the stove", "C.place the block on the black circle", "D.hang the grey clothing on the first rod of the rack" ] }, { "task_id": "0001918", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the remote control over and place it on the right side of the table, B.place the handset of the telephone on the corresponding phone cradle, C.put the contents from the bowl into the cup on the left with a spoon, then put the spoon back in the bowl, D.put the toy into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001918.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the remote control over and place it on the right side of the table", "B.place the handset of the telephone on the corresponding phone cradle", "C.put the contents from the bowl into the cup on the left with a spoon, then put the spoon back in the bowl", "D.put the toy into the bowl" ] }, { "task_id": "0001919", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the black and white packet inside the sink on the left, B.push the small block to the right, C.take the tape out of the drawer and place it on the left side of the table, D.pick up the vial and put it on the book] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001919.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black and white packet inside the sink on the left", "B.push the small block to the right", "C.take the tape out of the drawer and place it on the left side of the table", "D.pick up the vial and put it on the book" ] }, { "task_id": "0001920", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.get the white cup from the table and place it on the orange plate, B.use the gripper to push the small block from left to right, C.throw the block onto the table on the left side of the frame, D.take the marker from the black cup and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001920.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.get the white cup from the table and place it on the orange plate", "B.use the gripper to push the small block from left to right", "C.throw the block onto the table on the left side of the frame", "D.take the marker from the black cup and put it on the table" ] }, { "task_id": "0001921", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0017_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the umbrella into the box, B.scrubbing the table with a brush, C.put the green pen in the white mug, D.pick up the pen from the mug cup and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001921.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the umbrella into the box", "B.scrubbing the table with a brush", "C.put the green pen in the white mug", "D.pick up the pen from the mug cup and put it on the table" ] }, { "task_id": "0001922", "task": "TrajChoice", "id": "RH20T_cfg1_task_0028_user_0001_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take off the pot lid, B.push the drawer to close it, C.put the chopsticks in the white cup, D.pour the contents of the transparent cup into the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001922.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take off the pot lid", "B.push the drawer to close it", "C.put the chopsticks in the white cup", "D.pour the contents of the transparent cup into the bowl" ] }, { "task_id": "0001923", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0020_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a bag of things, B.remove the lid from the pot, C.approach and touch the side of the small block, D.remove the pen from the mug and place it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001923.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.remove the lid from the pot", "C.approach and touch the side of the small block", "D.remove the pen from the mug and place it on the table" ] }, { "task_id": "0001924", "task": "TrajChoice", "id": "RH20T_cfg2_task_0052_user_0016_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the shovel from the table to the cup, B.grab a basketball, release it and shoot it into the basket, C.move the pan to the stove plate on the right, D.put the carrot plush toy on the pan] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001924.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the shovel from the table to the cup", "B.grab a basketball, release it and shoot it into the basket", "C.move the pan to the stove plate on the right", "D.put the carrot plush toy on the pan" ] }, { "task_id": "0001925", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the toaster lever down, B.grab the block and place it at the designated location, C.move the towel closer to me, D.put the silver lid on the silver bottle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001925.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the toaster lever down", "B.grab the block and place it at the designated location", "C.move the towel closer to me", "D.put the silver lid on the silver bottle" ] }, { "task_id": "0001926", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the chocolate inside the sink, B.put the white item on the stove, C.moving a white long block from a black box and placing it on the table, D.clean the tabletop with a sponge], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001926.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the chocolate inside the sink", "B.put the white item on the stove", "C.moving a white long block from a black box and placing it on the table", "D.clean the tabletop with a sponge" ] }, { "task_id": "0001927", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the green packet and put it in the sink, B.pick up the transparent bottle on the table, C.take the paper glue from the cup and place it on the table, then return it to the cup, D.put the purple object in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001927.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green packet and put it in the sink", "B.pick up the transparent bottle on the table", "C.take the paper glue from the cup and place it on the table, then return it to the cup", "D.put the purple object in the bowl" ] }, { "task_id": "0001928", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the green can on the left counter, B.put the blue bowl on top of the wooden toy box, C.place the bottle from the bowl on the table, D.put the photo frame on the bracket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001928.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green can on the left counter", "B.put the blue bowl on top of the wooden toy box", "C.place the bottle from the bowl on the table", "D.put the photo frame on the bracket" ] }, { "task_id": "0001929", "task": "TrajChoice", "id": "RH20T_cfg5_task_0051_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the black jersey inside the box, B.take the dish off the dish rack, C.take a yellow object out of the bowl and put it on the countertop, D.move the plastic cup backward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001929.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black jersey inside the box", "B.take the dish off the dish rack", "C.take a yellow object out of the bowl and put it on the countertop", "D.move the plastic cup backward" ] }, { "task_id": "0001930", "task": "TrajChoice", "id": "RH20T_cfg7_task_0004_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the small block on the left side of the large block on the table, B.move the faucet handle upwards, C.clean the tabletop with a sponge, D.press the space key on the keyboard] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001930.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small block on the left side of the large block on the table", "B.move the faucet handle upwards", "C.clean the tabletop with a sponge", "D.press the space key on the keyboard" ] }, { "task_id": "0001931", "task": "TrajChoice", "id": "RH20T_cfg4_task_0215_user_0014_scene_0005_cfg_0004_104122063550#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the lid on the pot, B.the open page of the book, C.pick up the jar from the bowl and place it on the table, D.chop the potatoes], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001931.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.the open page of the book", "C.pick up the jar from the bowl and place it on the table", "D.chop the potatoes" ] }, { "task_id": "0001933", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the silver pot, B.screw the lid onto the jar, C.pick the marker from the bowl and put it on the table, D.holding a small block with the gripper and sweeping it from left to right on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001933.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the silver pot", "B.screw the lid onto the jar", "C.pick the marker from the bowl and put it on the table", "D.holding a small block with the gripper and sweeping it from left to right on the table" ] }, { "task_id": "0001934", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.clean the tabletop with a sponge, B.turn the hands of a clock, C.put the block in the bowl, D.put the white object into the toolbox], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001934.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.turn the hands of a clock", "C.put the block in the bowl", "D.put the white object into the toolbox" ] }, { "task_id": "0001936", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the first switch on the upper right side of the machine, B.slide a small block from the left side of the table to the right side, C.move the cloth backwards, D.put the fork in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001936.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the first switch on the upper right side of the machine", "B.slide a small block from the left side of the table to the right side", "C.move the cloth backwards", "D.put the fork in the cup" ] }, { "task_id": "0001937", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the yellow pepper to the table, B.put the blocks into the bag, C.pour the water from one cup into another empty cup, D.put the orange cloth inside the basket] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001937.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the yellow pepper to the table", "B.put the blocks into the bag", "C.pour the water from one cup into another empty cup", "D.put the orange cloth inside the basket" ] }, { "task_id": "0001938", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the table with a towel, B.pick up the black bowl from the top of the coffee maker and put it on the counter, C.the folded towel, D.pick up and place the block with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001938.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with a towel", "B.pick up the black bowl from the top of the coffee maker and put it on the counter", "C.the folded towel", "D.pick up and place the block with obstacles" ] }, { "task_id": "0001940", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the orange cloth inside the basket, B.close the tap, C.use the straw to stir the contents of the blue bowl, D.place the handset of the telephone on the corresponding phone cradle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001940.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cloth inside the basket", "B.close the tap", "C.use the straw to stir the contents of the blue bowl", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0001941", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the clear jar in the open drawer, B.pick up the small block on the left and move it to the right, C.take the pen out of the box and place it on the table, D.place the object on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001941.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clear jar in the open drawer", "B.pick up the small block on the left and move it to the right", "C.take the pen out of the box and place it on the table", "D.place the object on the table" ] }, { "task_id": "0001942", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the lid to the open, B.put the cup on the cup rack, C.remove the bubble ring from the assembled bubble ring and ball, D.open the door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001942.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the lid to the open", "B.put the cup on the cup rack", "C.remove the bubble ring from the assembled bubble ring and ball", "D.open the door" ] }, { "task_id": "0001943", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up an object from the transparent container and put it on the table, B.wiping the table with the cloth on top of the cabinet, C.pick up the orange cube from the table and put it on the blue cylinder, D.sharpen the pencil with a pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001943.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up an object from the transparent container and put it on the table", "B.wiping the table with the cloth on top of the cabinet", "C.pick up the orange cube from the table and put it on the blue cylinder", "D.sharpen the pencil with a pencil sharpener" ] }, { "task_id": "0001944", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the foam and throw it into the trash can, B.put the marker from the table into the mug, C.stacking blocks (small Lego) randomly one at a time, D.take out the marker from the cup and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001944.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the foam and throw it into the trash can", "B.put the marker from the table into the mug", "C.stacking blocks (small Lego) randomly one at a time", "D.take out the marker from the cup and place it on the table" ] }, { "task_id": "0001945", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the cup, B.put the knife on the knife rack, C.throwing the object into the bag, D.move the cup to the right side of the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001945.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.put the knife on the knife rack", "C.throwing the object into the bag", "D.move the cup to the right side of the table" ] }, { "task_id": "0001946", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.throw the gray block into the box, B.throw the drumsticks onto the drum, C.put the green masking tape in the drawer, D.put the ball on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001946.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the gray block into the box", "B.throw the drumsticks onto the drum", "C.put the green masking tape in the drawer", "D.put the ball on the table" ] }, { "task_id": "0001947", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the power strip by pressing the button, B.remove the glass lid from the black pot and place it on the table, C.open the drawer, D.flip off the second far left switch] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001947.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the button", "B.remove the glass lid from the black pot and place it on the table", "C.open the drawer", "D.flip off the second far left switch" ] }, { "task_id": "0001948", "task": "TrajChoice", "id": "RH20T_cfg6_task_0078_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push down the lever on the toaster, B.put the fruits on the table into the bowl, C.close the microwave door, D.remove the marker from the yellow cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001948.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever on the toaster", "B.put the fruits on the table into the bowl", "C.close the microwave door", "D.remove the marker from the yellow cup" ] }, { "task_id": "0001949", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0012_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.play jenga, B.move the cube to the table closer to the lamp, C.move the bowl that's closest to the couch slightly to the right then move it back, D.remove the lid from the white bottle] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001949.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.move the cube to the table closer to the lamp", "C.move the bowl that's closest to the couch slightly to the right then move it back", "D.remove the lid from the white bottle" ] }, { "task_id": "0001950", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the plush toy out of the pot, B.pour the contents of the cup into the bowl, C.close a sliding window, D.take the silver bowl from the drying rack and place it on the plate on the left side of the sink] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001950.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the plush toy out of the pot", "B.pour the contents of the cup into the bowl", "C.close a sliding window", "D.take the silver bowl from the drying rack and place it on the plate on the left side of the sink" ] }, { "task_id": "0001951", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bubble ring from the assembled bubble ring and ball, B.the stacked blocks, C.put the candy bar in the open cabinet, D.pour the contents in the blue cup on the left into the blue cup on the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001951.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.the stacked blocks", "C.put the candy bar in the open cabinet", "D.pour the contents in the blue cup on the left into the blue cup on the right" ] }, { "task_id": "0001952", "task": "TrajChoice", "id": "RH20T_cfg3_task_0091_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the black marker inside the pot, B.drop a coin into a piggy bank, C.take the bottom bottle from the right compartment of the box and place it on the table, D.move an object from one box to another] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001952.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black marker inside the pot", "B.drop a coin into a piggy bank", "C.take the bottom bottle from the right compartment of the box and place it on the table", "D.move an object from one box to another" ] }, { "task_id": "0001953", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.plug in the usb drive to the docking station, B.get the purple raspberry toy from the table and place it in a bowl, C.put the marker into the mug, D.pull the lever to the right] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001953.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the usb drive to the docking station", "B.get the purple raspberry toy from the table and place it in a bowl", "C.put the marker into the mug", "D.pull the lever to the right" ] }, { "task_id": "0001954", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0020_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a small block, B.scrubbing the table with a brush, C.switch off the desk lamp, D.press the switch of the black device], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001954.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.scrubbing the table with a brush", "C.switch off the desk lamp", "D.press the switch of the black device" ] }, { "task_id": "0001955", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grab the block and place it at the designated location, B.put the bottle on the silver object, C.unhook the meshing adapter from the machine, D.fold the towel in half] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001955.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.put the bottle on the silver object", "C.unhook the meshing adapter from the machine", "D.fold the towel in half" ] }, { "task_id": "0001957", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close a sliding window, B.throw the marker from the bowl onto the table, C.grab the red block from the stacked blocks and place the red block on the right side of the table, D.pick up the marker from the glass cup and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001957.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.throw the marker from the bowl onto the table", "C.grab the red block from the stacked blocks and place the red block on the right side of the table", "D.pick up the marker from the glass cup and put it on the table" ] }, { "task_id": "0001958", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the tap, B.unfold the cup on the bed, C.push an object with obstacles, D.close the trash can] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001958.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the tap", "B.unfold the cup on the bed", "C.push an object with obstacles", "D.close the trash can" ] }, { "task_id": "0001960", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the cup to the table, B.put the blue object from the drawer onto the table, C.swat with a flyswatter, D.put the cereal flake back into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001960.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the table", "B.put the blue object from the drawer onto the table", "C.swat with a flyswatter", "D.put the cereal flake back into the bowl" ] }, { "task_id": "0001961", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the black object on the cabinet, B.turn off the toaster, C.push the Rubik's cube onto the table, D.pick up the small block on the left and move it to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001961.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black object on the cabinet", "B.turn off the toaster", "C.push the Rubik's cube onto the table", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0001962", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the cup, B.place the glue stick inside the bowl, C.put the blue marker inside the yellow mug, D.move the blue bottle to the left on the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001962.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.place the glue stick inside the bowl", "C.put the blue marker inside the yellow mug", "D.move the blue bottle to the left on the counter" ] }, { "task_id": "0001964", "task": "TrajChoice", "id": "RH20T_cfg1_task_0031_user_0014_scene_0006_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.cover the box, B.dump the clothes from the basket onto the bed, C.remove the lid from the pot, D.transfer the cylinder from the right side of the table to the left side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001964.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.dump the clothes from the basket onto the bed", "C.remove the lid from the pot", "D.transfer the cylinder from the right side of the table to the left side of the table" ] }, { "task_id": "0001965", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the marker from the mug and put it on the table, B.move the Hanoi block from the stand to the table, C.move the clothes hanger and the remote control to the left side of the bed, D.take something out of a drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001965.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the table", "B.move the Hanoi block from the stand to the table", "C.move the clothes hanger and the remote control to the left side of the bed", "D.take something out of a drawer" ] }, { "task_id": "0001966", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0010_cfg_0002_105422061350#317", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.unfold the towel, B.take the bottle from the table and put it in the bowl, C.take something out of a drawer, D.turn off the stove light] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001966.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the towel", "B.take the bottle from the table and put it in the bowl", "C.take something out of a drawer", "D.turn off the stove light" ] }, { "task_id": "0001967", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wave the flag, B.grab the block and place it at the designated location, C.open the second layer drawer on the left, D.sliding the blue towel on the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001967.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.grab the block and place it at the designated location", "C.open the second layer drawer on the left", "D.sliding the blue towel on the desk" ] }, { "task_id": "0001968", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the yellow marker in the colourless cup, B.put the blue cup inside the upper cabinet on the right, C.turn on the switch, D.close a sliding window], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001968.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow marker in the colourless cup", "B.put the blue cup inside the upper cabinet on the right", "C.turn on the switch", "D.close a sliding window" ] }, { "task_id": "0001969", "task": "TrajChoice", "id": "RH20T_cfg1_task_0080_user_0010_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.unfold the towel, B.close the lid of the big black bin, C.stack the bowls, D.flip over and spread out the paper that is laid flat on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001969.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the towel", "B.close the lid of the big black bin", "C.stack the bowls", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0001970", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the soccer ball into the goal, B.put the block on the left side of the table, C.turn the book around, D.place the stainless steel cup inside the brown bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001970.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.put the block on the left side of the table", "C.turn the book around", "D.place the stainless steel cup inside the brown bowl" ] }, { "task_id": "0001971", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.insert the pencil into the pencil sharpener, B.put the towel into the white box, C.put the purple plush toy on the right side of the table, D.take the roll of paper down from the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001971.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.put the towel into the white box", "C.put the purple plush toy on the right side of the table", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0001972", "task": "TrajChoice", "id": "RH20T_cfg7_task_0049_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the block 3 into the slot 3, B.moving the cup from the coffee machine to the table, C.close the bottom drawer, D.rotate the steering wheel 90 degrees counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001972.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block 3 into the slot 3", "B.moving the cup from the coffee machine to the table", "C.close the bottom drawer", "D.rotate the steering wheel 90 degrees counterclockwise" ] }, { "task_id": "0001974", "task": "TrajChoice", "id": "RH20T_cfg6_task_0124_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push down the lever, B.put the bottle on the stand in the case, C.take the orange object off the stove and place it on the countertop, D.put the object on the top of the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001974.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.put the bottle on the stand in the case", "C.take the orange object off the stove and place it on the countertop", "D.put the object on the top of the shelf" ] }, { "task_id": "0001975", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bag into the bowl, B.screw the lid onto the jar (needs to be twisted), C.remove the green ring from the bracket, D.pick up the orange cup and pour the contents into the black bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001975.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag into the bowl", "B.screw the lid onto the jar (needs to be twisted)", "C.remove the green ring from the bracket", "D.pick up the orange cup and pour the contents into the black bowl" ] }, { "task_id": "0001976", "task": "TrajChoice", "id": "RH20T_cfg1_task_0103_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the top compartment of the refrigerator door, B.turn the lamp in an anti-clockwise direction, C.take the pen out of the cup and put it on the table, D.drag the plate to the goal post after holding it down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001976.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the top compartment of the refrigerator door", "B.turn the lamp in an anti-clockwise direction", "C.take the pen out of the cup and put it on the table", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0001977", "task": "TrajChoice", "id": "RH20T_cfg6_task_0023_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the object on a transparent box, B.put the spoon in the bowl, C.turn on the toaster, D.turn on the power strip by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001977.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the object on a transparent box", "B.put the spoon in the bowl", "C.turn on the toaster", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0001978", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.plug in the power cord to the socket, B.put the spoon on the table and then move the jar to the right, C.hit the pool ball, D.put the chocolate bar inside the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001978.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.put the spoon on the table and then move the jar to the right", "C.hit the pool ball", "D.put the chocolate bar inside the sink" ] }, { "task_id": "0001979", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.moving a small object from the table to the cup, B.put the book into the black box, C.put the gray object on the table, D.twisting the water tap handle] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001979.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving a small object from the table to the cup", "B.put the book into the black box", "C.put the gray object on the table", "D.twisting the water tap handle" ] }, { "task_id": "0001980", "task": "TrajChoice", "id": "RH20T_cfg5_task_0083_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.swat with a flyswatter, B.press the switch of the dishwasher, C.put the cloth on the desk, D.pick up the lid and put it on the pot, then take it off and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001980.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.press the switch of the dishwasher", "C.put the cloth on the desk", "D.pick up the lid and put it on the pot, then take it off and put it on the table" ] }, { "task_id": "0001981", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the desk lamp by pressing the button, B.put the white object on the bed onto the upper bracket, C.place the block on the scale, D.stack the three clear plastic cups together], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001981.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.put the white object on the bed onto the upper bracket", "C.place the block on the scale", "D.stack the three clear plastic cups together" ] }, { "task_id": "0001982", "task": "TrajChoice", "id": "RH20T_cfg1_task_0015_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the block on the green block, B.play the drum, C.put the white cloth on the table, D.place the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001982.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the green block", "B.play the drum", "C.put the white cloth on the table", "D.place the lid on the pot" ] }, { "task_id": "0001983", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0014_scene_0002_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the dish on the dish rack, B.scooping the balls out of the plate with a spoon and putting them in the bowl, C.wave the flag, D.pick up the orange cup from the table, pour its contents into the black pot, and put the cup back on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001983.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the dish on the dish rack", "B.scooping the balls out of the plate with a spoon and putting them in the bowl", "C.wave the flag", "D.pick up the orange cup from the table, pour its contents into the black pot, and put the cup back on the table" ] }, { "task_id": "0001984", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0017_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the tomato toy into the red bowl, B.put the brown cup in the bowl, C.grasp the object, D.pick up the rope from the table and put it in the blue box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001984.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tomato toy into the red bowl", "B.put the brown cup in the bowl", "C.grasp the object", "D.pick up the rope from the table and put it in the blue box" ] }, { "task_id": "0001985", "task": "TrajChoice", "id": "RH20T_cfg3_task_0007_user_0016_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.slide a small block on the tablecloth, B.move the mug to the right, C.take the pencil off of the rack and put it on the table, D.press the button on the machine], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001985.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide a small block on the tablecloth", "B.move the mug to the right", "C.take the pencil off of the rack and put it on the table", "D.press the button on the machine" ] }, { "task_id": "0001986", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.finish setting up the starting position of a chessboard that is almost arranged, B.the fabric slides on the table, C.remove the gray object from the cup, D.push the faucet handle upwards], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001986.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.the fabric slides on the table", "C.remove the gray object from the cup", "D.push the faucet handle upwards" ] }, { "task_id": "0001987", "task": "TrajChoice", "id": "RH20T_cfg7_task_0046_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the spatula on the table from the left side to the right side, B.move the brown bag to the left, C.put the cup on the cup rack, D.pull out a napkin, place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001987.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spatula on the table from the left side to the right side", "B.move the brown bag to the left", "C.put the cup on the cup rack", "D.pull out a napkin, place it on the table" ] }, { "task_id": "0001988", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the stapler to the right, B.move the cup to the right of the plate, C.wave the flag, D.move the mug to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001988.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the stapler to the right", "B.move the cup to the right of the plate", "C.wave the flag", "D.move the mug to the left" ] }, { "task_id": "0001989", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the blue cloth hanging on the left on top of the counter, B.push the wooden block over the table, C.fold the white object once, D.put the peach on top of the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001989.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue cloth hanging on the left on top of the counter", "B.push the wooden block over the table", "C.fold the white object once", "D.put the peach on top of the shelf" ] }, { "task_id": "0001990", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0010_scene_0007_cfg_0004_104122062295#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.hit the pool ball, B.put the block in the sink, C.press the computer screen to turn off the computer, D.move the black object from the table to the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001990.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.put the block in the sink", "C.press the computer screen to turn off the computer", "D.move the black object from the table to the box" ] }, { "task_id": "0001991", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the clear container from the top counter to the left side of the bottom cabinet, B.push the lever downwards on the toaster, C.dial a number on an old rotary phone, D.pick up a black round object and put it on the right side of the couch] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001991.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clear container from the top counter to the left side of the bottom cabinet", "B.push the lever downwards on the toaster", "C.dial a number on an old rotary phone", "D.pick up a black round object and put it on the right side of the couch" ] }, { "task_id": "0001992", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the transparent container on the cabinet upside down by 180 degrees, B.use the gripper to push and close the drawer, C.take the block from the block and place it on the table, D.move the bowl to the side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001992.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the transparent container on the cabinet upside down by 180 degrees", "B.use the gripper to push and close the drawer", "C.take the block from the block and place it on the table", "D.move the bowl to the side of the table" ] }, { "task_id": "0001993", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the spoon on the plate, B.push the faucet to the left, C.put the spoon from the basket and cup onto the fabric, D.finish setting up the starting position of a chessboard that is almost arranged] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001993.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the plate", "B.push the faucet to the left", "C.put the spoon from the basket and cup onto the fabric", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0001994", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0004_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the black bottle onto the box, B.move the purple ball to the lower right corner, C.place the spray bottle on the arm-rest of the sofa, D.press a button horizontally with obstacles] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001994.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black bottle onto the box", "B.move the purple ball to the lower right corner", "C.place the spray bottle on the arm-rest of the sofa", "D.press a button horizontally with obstacles" ] }, { "task_id": "0001995", "task": "TrajChoice", "id": "RH20T_cfg2_task_0019_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pull the yellow cup to the left, B.play Go with black pieces in the lower left corner, C.use the gripper to push the small block from left to right, D.open the topmost drawer on the right then place the white object on the counter inside the drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001995.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the yellow cup to the left", "B.play Go with black pieces in the lower left corner", "C.use the gripper to push the small block from left to right", "D.open the topmost drawer on the right then place the white object on the counter inside the drawer" ] }, { "task_id": "0001996", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.separate the stacked bottles and cups, B.grasp the moving object, C.put the fork in the drawer, D.press the green button on the yellow base], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001996.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.separate the stacked bottles and cups", "B.grasp the moving object", "C.put the fork in the drawer", "D.press the green button on the yellow base" ] }, { "task_id": "0001997", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0016_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the yellow towel to wipe the table, B.remove the marker from the mug and put it on the table, C.slide the cup to the left, D.put the object on the shelf] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001997.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the yellow towel to wipe the table", "B.remove the marker from the mug and put it on the table", "C.slide the cup to the left", "D.put the object on the shelf" ] }, { "task_id": "0001998", "task": "TrajChoice", "id": "RH20T_cfg1_task_0032_user_0014_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the plastic from the side and put it in the fridge, B.close the drawer, C.slide the outer casing onto the gift box, D.pick up and place the block with obstacles] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001998.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the plastic from the side and put it in the fridge", "B.close the drawer", "C.slide the outer casing onto the gift box", "D.pick up and place the block with obstacles" ] }, { "task_id": "0001999", "task": "TrajChoice", "id": "RH20T_cfg2_task_0029_user_0003_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pull the cardboard box out, B.grasp the handle and open the drawer, C.move the cup, D.close the door of the third cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0001999.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the cardboard box out", "B.grasp the handle and open the drawer", "C.move the cup", "D.close the door of the third cabinet" ] }, { "task_id": "0002000", "task": "TrajChoice", "id": "RH20T_cfg4_task_0210_user_0014_scene_0010_cfg_0004_104122063550#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.lift up the lid on the coffee machine, B.stack the bowls, C.pick up the sachet from the table and put it in the bag, D.chop the onions], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002000.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lift up the lid on the coffee machine", "B.stack the bowls", "C.pick up the sachet from the table and put it in the bag", "D.chop the onions" ] }, { "task_id": "0002001", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.the pull cord for the lamp, B.push the button on the lid then take it off the container, C.place the bottle upright on the table, D.turn on the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002001.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the pull cord for the lamp", "B.push the button on the lid then take it off the container", "C.place the bottle upright on the table", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0002002", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the blue item on the plate and then after on the table, B.sharpen the pencil with a pencil sharpener, C.put the clothes into the box, D.place the towel on the sofa back] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002002.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue item on the plate and then after on the table", "B.sharpen the pencil with a pencil sharpener", "C.put the clothes into the box", "D.place the towel on the sofa back" ] }, { "task_id": "0002003", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the white bowl to the right side of the sink, B.put the grey cap at the edge on top of the blue thing, C.pour the contents of the white plate into the gray cup, D.swat with a flyswatter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002003.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white bowl to the right side of the sink", "B.put the grey cap at the edge on top of the blue thing", "C.pour the contents of the white plate into the gray cup", "D.swat with a flyswatter" ] }, { "task_id": "0002005", "task": "TrajChoice", "id": "RH20T_cfg3_task_0086_user_0010_scene_0007_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.plug in the power cord to the socket, B.dial a number on an old rotary phone, C.put the fork in the drawer, D.move the transparent box to the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002005.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.dial a number on an old rotary phone", "C.put the fork in the drawer", "D.move the transparent box to the shelf" ] }, { "task_id": "0002006", "task": "TrajChoice", "id": "RH20T_cfg1_task_0019_user_0012_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the top drawer of the cabinet at the right, B.wipe the table with the yellow towel, C.pour the contents of the cup on the right into the cup on the left, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002006.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the cabinet at the right", "B.wipe the table with the yellow towel", "C.pour the contents of the cup on the right into the cup on the left", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0002007", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.wiping the whiteboard with an eraser, B.put the object inside the cup, C.put the tissue on the pile of tissues, D.place the block on the black circle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002007.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the whiteboard with an eraser", "B.put the object inside the cup", "C.put the tissue on the pile of tissues", "D.place the block on the black circle" ] }, { "task_id": "0002008", "task": "TrajChoice", "id": "RH20T_cfg3_task_0086_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the bowl from the sink to the counter, B.sweeping a small block on the table from left to right with a gripper, C.dial a number on an old rotary phone, D.sliding a towel on the sofa] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002008.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl from the sink to the counter", "B.sweeping a small block on the table from left to right with a gripper", "C.dial a number on an old rotary phone", "D.sliding a towel on the sofa" ] }, { "task_id": "0002009", "task": "TrajChoice", "id": "RH20T_cfg3_task_0052_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the marker from the cup and put it on the table, B.put the doll from the bowl on the table, C.grab a basketball, release it and shoot it into the basket, D.clean the pan], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002009.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup and put it on the table", "B.put the doll from the bowl on the table", "C.grab a basketball, release it and shoot it into the basket", "D.clean the pan" ] }, { "task_id": "0002010", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the orange marker from the desk and move it to the right, B.put the garbage in the trash can, C.pull out a napkin, D.pull up the switch on the wall], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002010.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the orange marker from the desk and move it to the right", "B.put the garbage in the trash can", "C.pull out a napkin", "D.pull up the switch on the wall" ] }, { "task_id": "0002011", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0006_cfg_0004_104122062823#180", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the sock to the left, B.put the marker inside the mug cup, C.get the marker from the green mug then put it on the table, D.put the garbage in the trash can] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002011.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the sock to the left", "B.put the marker inside the mug cup", "C.get the marker from the green mug then put it on the table", "D.put the garbage in the trash can" ] }, { "task_id": "0002012", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open a box, B.stacking blocks (small Lego) one at a time randomly, C.open the oven, D.put the bowl on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002012.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.stacking blocks (small Lego) one at a time randomly", "C.open the oven", "D.put the bowl on the table" ] }, { "task_id": "0002013", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the screwdriver in the open drawer and then close the drawer, B.press the red button on the orange base on the desktop, C.put the object in the designated position, D.pick up the snack and put it in the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002013.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the screwdriver in the open drawer and then close the drawer", "B.press the red button on the orange base on the desktop", "C.put the object in the designated position", "D.pick up the snack and put it in the sink" ] }, { "task_id": "0002014", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open a sliding window, B.stack up the two green blocks, C.pull the curtain zipper to the left to lower the curtain, D.remove the marker out of the cup and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002014.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.stack up the two green blocks", "C.pull the curtain zipper to the left to lower the curtain", "D.remove the marker out of the cup and put it on the table" ] }, { "task_id": "0002015", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the blue object from the dowel, B.hang the white cloth on the glass panel, C.move the wine red bag to the right side of the desk, D.put the knife on the cutting board] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002015.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the blue object from the dowel", "B.hang the white cloth on the glass panel", "C.move the wine red bag to the right side of the desk", "D.put the knife on the cutting board" ] }, { "task_id": "0002016", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.press the washing machine button, C.grab the small block and place it at the designated location, D.place a lid on the black pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002016.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.press the washing machine button", "C.grab the small block and place it at the designated location", "D.place a lid on the black pot" ] }, { "task_id": "0002017", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.insert the tip of a medium pipette into the holder for medium pipette tips, B.put the toilet paper on its holder, C.pick up the lid and cover the pot with it, D.scrubbing the table with a brush], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002017.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a medium pipette into the holder for medium pipette tips", "B.put the toilet paper on its holder", "C.pick up the lid and cover the pot with it", "D.scrubbing the table with a brush" ] }, { "task_id": "0002019", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0006_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the marker from the table and put it in the cup, B.play jenga, C.pour the fabric softener into the washing machine, D.take the toy grapes from the table and put them in the white bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002019.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the table and put it in the cup", "B.play jenga", "C.pour the fabric softener into the washing machine", "D.take the toy grapes from the table and put them in the white bowl" ] }, { "task_id": "0002020", "task": "TrajChoice", "id": "RH20T_cfg5_task_0038_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the tin to the left, B.take the bowl to the box, C.move the orange cup from beneath the table to above the table, D.move an object from one box to another] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002020.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tin to the left", "B.take the bowl to the box", "C.move the orange cup from beneath the table to above the table", "D.move an object from one box to another" ] }, { "task_id": "0002021", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the book, B.place the white lid on the cube-shaped wooden object, C.take everything out of the gift box, D.uncover the pot], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002021.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the book", "B.place the white lid on the cube-shaped wooden object", "C.take everything out of the gift box", "D.uncover the pot" ] }, { "task_id": "0002022", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#261", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close a sliding window, B.put the green can in the cabinet, C.take everything out of the gift box, D.take the spoon from the green bowl and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002022.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.put the green can in the cabinet", "C.take everything out of the gift box", "D.take the spoon from the green bowl and place it on the table" ] }, { "task_id": "0002023", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0006_cfg_0004_038522062288#331", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the cloth and wipe the pot then place it on the table, B.operating an object in the bag, C.take everything out of the gift box, D.open the bottom drawer of the right cabinet] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002023.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth and wipe the pot then place it on the table", "B.operating an object in the bag", "C.take everything out of the gift box", "D.open the bottom drawer of the right cabinet" ] }, { "task_id": "0002024", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the lid from the pot and place it on the table, B.slide the outer casing onto the gift box, C.clean the remote with a paper towel, D.put the block on the square on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002024.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the pot and place it on the table", "B.slide the outer casing onto the gift box", "C.clean the remote with a paper towel", "D.put the block on the square on the table" ] }, { "task_id": "0002025", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn on the water tap, B.push down the right toaster lever, C.remove the marker from the bowl and put it on the table, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002025.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.push down the right toaster lever", "C.remove the marker from the bowl and put it on the table", "D.remove the object from the scale" ] }, { "task_id": "0002026", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cloth cube in the sink, B.moving the cylindrical green building block, C.put the pen into the pen holder, D.move an object from one box to another], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002026.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cloth cube in the sink", "B.moving the cylindrical green building block", "C.put the pen into the pen holder", "D.move an object from one box to another" ] }, { "task_id": "0002027", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the yellow block in the cup, B.move the duster forward, C.move the mug to the center of the seat, D.place the handset of the telephone on the corresponding phone cradle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002027.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the cup", "B.move the duster forward", "C.move the mug to the center of the seat", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0002028", "task": "TrajChoice", "id": "RH20T_cfg6_task_0096_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take something out of a drawer, B.take the gloves off the tap, C.move the blue object to the right, D.put the marker in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002028.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.take the gloves off the tap", "C.move the blue object to the right", "D.put the marker in the cup" ] }, { "task_id": "0002029", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the marker from the mug and place it on the table, B.grasp the moving object, C.unfold the towel on the table, D.press the button on the horizontal operation panel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002029.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and place it on the table", "B.grasp the moving object", "C.unfold the towel on the table", "D.press the button on the horizontal operation panel" ] }, { "task_id": "0002030", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open a box, B.uncover the pot and put the lid on the counter, C.place the can on the countertop, D.put the pen to the left side of the green box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002030.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.uncover the pot and put the lid on the counter", "C.place the can on the countertop", "D.put the pen to the left side of the green box" ] }, { "task_id": "0002031", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup on the cup rack, B.press the red button on the orange base, C.move the bottle backward and to the left, D.wiping the desk with the sliding cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002031.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.press the red button on the orange base", "C.move the bottle backward and to the left", "D.wiping the desk with the sliding cloth" ] }, { "task_id": "0002032", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the table by sliding the towel on the table, B.pick up the marker and put it in the cup, C.put an object from the table onto the black stool, D.gently push the small block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002032.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table by sliding the towel on the table", "B.pick up the marker and put it in the cup", "C.put an object from the table onto the black stool", "D.gently push the small block" ] }, { "task_id": "0002033", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull open the drawer, B.put the stopper of the transparent glass bottle on the table, C.use the gripper to push the small block from left to right, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002033.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull open the drawer", "B.put the stopper of the transparent glass bottle on the table", "C.use the gripper to push the small block from left to right", "D.pick up a bag of things" ] }, { "task_id": "0002034", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the microwave door, B.nudge the white box to the left and open the door, C.move the toy car to the microwave, D.push the small block down from the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002034.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.nudge the white box to the left and open the door", "C.move the toy car to the microwave", "D.push the small block down from the table" ] }, { "task_id": "0002035", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the microwave door, B.move the chess piece back, C.close the coffee maker, D.take something out of a drawer and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002035.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.move the chess piece back", "C.close the coffee maker", "D.take something out of a drawer and place it on the table" ] }, { "task_id": "0002036", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0001_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the blanket to the right, B.pour the contents from the orange cup into the bowl, C.play Jenga, D.Insert the tip of a small pipette into the holder for small pipette tips] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002036.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blanket to the right", "B.pour the contents from the orange cup into the bowl", "C.play Jenga", "D.Insert the tip of a small pipette into the holder for small pipette tips" ] }, { "task_id": "0002037", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0014_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the pen out of the cup and put it on the table, B.pick up the green object and put it in the bowl, C.remove the bubble ring from the assembled bubble ring and ball, D.throw the item into the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002037.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen out of the cup and put it on the table", "B.pick up the green object and put it in the bowl", "C.remove the bubble ring from the assembled bubble ring and ball", "D.throw the item into the plate" ] }, { "task_id": "0002038", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up a bag of things, B.place the candy bar on the left side of the first shelf, C.press the button of the machine, D.move the cup slightly backward to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002038.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.place the candy bar on the left side of the first shelf", "C.press the button of the machine", "D.move the cup slightly backward to the right" ] }, { "task_id": "0002039", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the black cloth from the top of the chair to the table, B.put the lid on the pot, C.put the toilet paper on its holder, D.turn the faucet to the right and open the faucet switch] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002039.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black cloth from the top of the chair to the table", "B.put the lid on the pot", "C.put the toilet paper on its holder", "D.turn the faucet to the right and open the faucet switch" ] }, { "task_id": "0002040", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the top block on the table, B.pick up a bag of things, C.move the circle from the desktop to the box, D.put the carrot plush inside the pot in the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002040.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the top block on the table", "B.pick up a bag of things", "C.move the circle from the desktop to the box", "D.put the carrot plush inside the pot in the sink" ] }, { "task_id": "0002041", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the knife on the cutting board, B.fold the towel once, C.pick up the marker from the cup and put it on the table, D.put the marker inside the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002041.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.fold the towel once", "C.pick up the marker from the cup and put it on the table", "D.put the marker inside the mug" ] }, { "task_id": "0002042", "task": "TrajChoice", "id": "RH20T_cfg4_task_0116_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.move the cup to the left, C.pull the light switch to turn off the light, D.use the correction tape on the paper] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002042.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.move the cup to the left", "C.pull the light switch to turn off the light", "D.use the correction tape on the paper" ] }, { "task_id": "0002043", "task": "TrajChoice", "id": "RH20T_cfg4_task_0208_user_0010_scene_0001_cfg_0004_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the pen from the cup, put it on the table, and then put it back in the cup, B.move the spoon from the plate to the table, C.slice the lotus root, D.change the position of the object on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002043.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup, put it on the table, and then put it back in the cup", "B.move the spoon from the plate to the table", "C.slice the lotus root", "D.change the position of the object on the counter" ] }, { "task_id": "0002044", "task": "TrajChoice", "id": "RH20T_cfg4_task_0112_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the marker from the white cup and put it on the table, B.put on the pot lid, C.plug in the charger to the socket, D.close the water reservoir lid on the Keurig machine] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002044.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the white cup and put it on the table", "B.put on the pot lid", "C.plug in the charger to the socket", "D.close the water reservoir lid on the Keurig machine" ] }, { "task_id": "0002045", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.scrubbing the table with a brush, B.pick up two clothes from the box and put them on the chair, C.pour the contents of the transparent cup into the transparent cup, D.scoop water with a large spoon from the basin into the glass bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002045.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.pick up two clothes from the box and put them on the chair", "C.pour the contents of the transparent cup into the transparent cup", "D.scoop water with a large spoon from the basin into the glass bowl" ] }, { "task_id": "0002046", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.wipe the pink towel on the table to clean, B.pick up the small block on the left and move it to the right, C.hang up the clothes, D.put the green can on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002046.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the pink towel on the table to clean", "B.pick up the small block on the left and move it to the right", "C.hang up the clothes", "D.put the green can on the shelf" ] }, { "task_id": "0002047", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the mug on its side, B.pull out a napkin, C.stack the blocks on the table, D.open the tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002047.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the mug on its side", "B.pull out a napkin", "C.stack the blocks on the table", "D.open the tap" ] }, { "task_id": "0002048", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0020_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the cereal from the mug to the bowl, B.place the black item of clothing on the left backrest of the sofa, C.place the handset of the telephone on the corresponding phone cradle, D.turn on the air conditioner] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002048.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the cereal from the mug to the bowl", "B.place the black item of clothing on the left backrest of the sofa", "C.place the handset of the telephone on the corresponding phone cradle", "D.turn on the air conditioner" ] }, { "task_id": "0002050", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the drink from the plate to the table, B.put the knife on the cutting board, C.take the pencil out from the pencil sharpener, D.move the cup to the left, place the white box on the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002050.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the drink from the plate to the table", "B.put the knife on the cutting board", "C.take the pencil out from the pencil sharpener", "D.move the cup to the left, place the white box on the cup" ] }, { "task_id": "0002051", "task": "TrajChoice", "id": "RH20T_cfg5_task_0085_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the bubble ring from the assembled bubble ring and ball, B.place the rubber duck on the middle shelf, C.put the pot lid on the countertop, D.use the eraser to wipe the white board on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002051.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.place the rubber duck on the middle shelf", "C.put the pot lid on the countertop", "D.use the eraser to wipe the white board on the table" ] }, { "task_id": "0002052", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the black bottle from the cabinet and put it on the counter top, B.remove the orange object from the box and put it on the table, C.put the knife on the knife rack, D.put the black item in the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002052.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the black bottle from the cabinet and put it on the counter top", "B.remove the orange object from the box and put it on the table", "C.put the knife on the knife rack", "D.put the black item in the cup" ] }, { "task_id": "0002053", "task": "TrajChoice", "id": "RH20T_cfg4_task_0111_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the elongated block on the table, B.put the object with the corresponding shape into the corresponding hole, C.hang the cloth on the transparent screen, D.put the marker in the mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002053.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the elongated block on the table", "B.put the object with the corresponding shape into the corresponding hole", "C.hang the cloth on the transparent screen", "D.put the marker in the mug" ] }, { "task_id": "0002054", "task": "TrajChoice", "id": "RH20T_cfg4_task_0078_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.fold the cloth, B.close the microwave door, C.use the towel to push all the objects on the table to the left, D.fold the green towel on the desk] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002054.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the cloth", "B.close the microwave door", "C.use the towel to push all the objects on the table to the left", "D.fold the green towel on the desk" ] }, { "task_id": "0002055", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the pen from the cup and put it on the table, B.swat with a flyswatter, C.pick up the book and throw it on the sofa, D.plug in the USB drive to the docking station] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002055.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the table", "B.swat with a flyswatter", "C.pick up the book and throw it on the sofa", "D.plug in the USB drive to the docking station" ] }, { "task_id": "0002056", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0001_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the side of the small block, B.move the white can with the orange lid to the right side of the tap, C.pick up the green object from the plate into the bowl, D.remove the black spoon from the cutlery box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002056.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the side of the small block", "B.move the white can with the orange lid to the right side of the tap", "C.pick up the green object from the plate into the bowl", "D.remove the black spoon from the cutlery box" ] }, { "task_id": "0002057", "task": "TrajChoice", "id": "RH20T_cfg1_task_0075_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the transparent plastic cup out of the drawer, place it on the countertop, and close the drawer, B.put the tape from the drawer onto the cabinet surface, C.finish setting up the starting position of a chessboard that is almost arranged, D.turn on the air fryer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002057.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the transparent plastic cup out of the drawer, place it on the countertop, and close the drawer", "B.put the tape from the drawer onto the cabinet surface", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.turn on the air fryer" ] }, { "task_id": "0002058", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the object from the scale, B.unfold the towel, C.put the blue tool into the cup, D.turn on the extension cord] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002058.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.unfold the towel", "C.put the blue tool into the cup", "D.turn on the extension cord" ] }, { "task_id": "0002059", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the switch on the wall, B.transfer the pen from the cup to the table, C.put the cup on the table, D.put the block in the drawer, close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002059.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the wall", "B.transfer the pen from the cup to the table", "C.put the cup on the table", "D.put the block in the drawer, close the drawer" ] }, { "task_id": "0002060", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the brush on the pen rack, B.take the coffee cup from the sink and put it on the dish rack, C.transfer the Rubik's cube from the scale to the left side of the tablecloth, D.remove the marker from the mug and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002060.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.take the coffee cup from the sink and put it on the dish rack", "C.transfer the Rubik's cube from the scale to the left side of the tablecloth", "D.remove the marker from the mug and put it on the table" ] }, { "task_id": "0002061", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open a box, B.move the triangular block to the left, C.wiping the pot with a towel, D.press the remote control button on the desktop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002061.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.move the triangular block to the left", "C.wiping the pot with a towel", "D.press the remote control button on the desktop" ] }, { "task_id": "0002062", "task": "TrajChoice", "id": "RH20T_cfg2_task_0062_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the toilet paper on its holder, B.push the plate to the right, C.push the cup to the left, D.move the gray and green blocks onto the brown block] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002062.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.push the plate to the right", "C.push the cup to the left", "D.move the gray and green blocks onto the brown block" ] }, { "task_id": "0002063", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the plastic bottle on top of the ever spring bottle, B.place the brown bottle on the table, C.wave the flag, D.take the cloth from the clear screen and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002063.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plastic bottle on top of the ever spring bottle", "B.place the brown bottle on the table", "C.wave the flag", "D.take the cloth from the clear screen and put it on the table" ] }, { "task_id": "0002064", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slide the towel to the right, B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb, C.push the small wooden block on the table, D.remove the red block from the pot and put it on top of the cupboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002064.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the towel to the right", "B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb", "C.push the small wooden block on the table", "D.remove the red block from the pot and put it on top of the cupboard" ] }, { "task_id": "0002065", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0001_cfg_0004_104122062823#254", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the coffee machine chamber, B.put the things in the drawer and close the drawer, C.push the soccer ball into the goal, D.put the object on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002065.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the coffee machine chamber", "B.put the things in the drawer and close the drawer", "C.push the soccer ball into the goal", "D.put the object on the table" ] }, { "task_id": "0002066", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take something out of a drawer, B.pick up a black chess piece from the desk and place it on the chessboard, C.pick the bottle and move it to the right on the table, D.move the black lid from the blue pot to the blue pan] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002066.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.pick up a black chess piece from the desk and place it on the chessboard", "C.pick the bottle and move it to the right on the table", "D.move the black lid from the blue pot to the blue pan" ] }, { "task_id": "0002067", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the can from the cabinet, B.pull out a napkin, C.pull the faucet nozzle to the right, D.take the lid off the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002067.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the can from the cabinet", "B.pull out a napkin", "C.pull the faucet nozzle to the right", "D.take the lid off the pot" ] }, { "task_id": "0002068", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take out the first plate and put it on the countertop, B.place the block on the scale, C.take the pen from the white cup and place it on the table, D.place the towel on the right side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002068.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the first plate and put it on the countertop", "B.place the block on the scale", "C.take the pen from the white cup and place it on the table", "D.place the towel on the right side of the table" ] }, { "task_id": "0002069", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the bottle and put it on top of the briefcase, B.put the marker inside the cup, C.open the microwave door, D.take the spoon from the bowl and put it into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002069.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle and put it on top of the briefcase", "B.put the marker inside the cup", "C.open the microwave door", "D.take the spoon from the bowl and put it into the bowl" ] }, { "task_id": "0002070", "task": "TrajChoice", "id": "RH20T_cfg3_task_0023_user_0010_scene_0005_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the ring on the cylinder, B.put the cube into the cup with a spoon, C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, D.turn on the power strip by pressing the button] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002070.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the cylinder", "B.put the cube into the cup with a spoon", "C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "D.turn on the power strip by pressing the button" ] }, { "task_id": "0002071", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take everything out of the gift box, B.pull out the second drawer on the left, C.place the white shaker inside the blue box, D.push the lid of the plastic container forward], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002071.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.pull out the second drawer on the left", "C.place the white shaker inside the blue box", "D.push the lid of the plastic container forward" ] }, { "task_id": "0002072", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0002_cfg_0007_104122064161#244", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.slide the white plate to the left, B.put the rubber band around the brown cup, C.move the cup to the left, D.take everything out of the gift box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002072.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the white plate to the left", "B.put the rubber band around the brown cup", "C.move the cup to the left", "D.take everything out of the gift box" ] }, { "task_id": "0002073", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pressing the keys on the keyboard on the table, B.put the packet on the box, C.push the bucket to the right, D.close a sliding window], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002073.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the keys on the keyboard on the table", "B.put the packet on the box", "C.push the bucket to the right", "D.close a sliding window" ] }, { "task_id": "0002074", "task": "TrajChoice", "id": "RH20T_cfg5_task_0053_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use the red and white towel to wipe the table, B.remove the stacked orange and yellow rings and place them on the table, C.use a clamp and transfer it above the white plate, D.put the orange object in the silver cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002074.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the red and white towel to wipe the table", "B.remove the stacked orange and yellow rings and place them on the table", "C.use a clamp and transfer it above the white plate", "D.put the orange object in the silver cup" ] }, { "task_id": "0002075", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the small block on the left and move it to the right, B.move the cup and stack the cups together, C.dial a number on an old rotary phone, D.put the cup on the side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002075.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the left and move it to the right", "B.move the cup and stack the cups together", "C.dial a number on an old rotary phone", "D.put the cup on the side of the table" ] }, { "task_id": "0002076", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the block from the shelf to the table, B.put the marker in the bowl, C.remove the yellow block from the stack on the right and place it on the table, D.insert the tip of a large pipette into the holder for large pipette tips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002076.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the block from the shelf to the table", "B.put the marker in the bowl", "C.remove the yellow block from the stack on the right and place it on the table", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0002077", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.folding clothes, B.move the cup into the square box, C.remove the object from the scale, D.place the brush on the pen rack] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002077.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding clothes", "B.move the cup into the square box", "C.remove the object from the scale", "D.place the brush on the pen rack" ] }, { "task_id": "0002078", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the object from the scale, B.move the cup to the right, C.close the tap, D.turn off the desk lamp by pressing the button], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002078.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.move the cup to the right", "C.close the tap", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0002079", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the book on the armrest of the sofa, B.put the orange item on the stack, C.put the orange marker on the table, D.take out a Hanoi block and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002079.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the armrest of the sofa", "B.put the orange item on the stack", "C.put the orange marker on the table", "D.take out a Hanoi block and put it on the table" ] }, { "task_id": "0002080", "task": "TrajChoice", "id": "RH20T_cfg7_task_0075_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.finish setting up the starting position of a chessboard that is almost arranged, B.transfer the cup from the table to the bowl, C.put the marker on the table, D.move the grey bottle to the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002080.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.transfer the cup from the table to the bowl", "C.put the marker on the table", "D.move the grey bottle to the left" ] }, { "task_id": "0002081", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0018_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.holding a small block with the gripper and sweeping it from left to right on the table, B.remove the marker from the mug cup, C.drop a coin into a piggy bank, D.clean the tabletop with a sponge] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002081.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.holding a small block with the gripper and sweeping it from left to right on the table", "B.remove the marker from the mug cup", "C.drop a coin into a piggy bank", "D.clean the tabletop with a sponge" ] }, { "task_id": "0002082", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.draw back the curtain on the right, B.taking out the light bulb by rotating it, C.pick up the remote from the table and place it on the tray, D.put the jar into the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002082.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.draw back the curtain on the right", "B.taking out the light bulb by rotating it", "C.pick up the remote from the table and place it on the tray", "D.put the jar into the bowl" ] }, { "task_id": "0002083", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the bottle, B.wiping the table with a towel sliding on the table, C.plug in the bulb holder to the socket, D.put the green marker inside the grey bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002083.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle", "B.wiping the table with a towel sliding on the table", "C.plug in the bulb holder to the socket", "D.put the green marker inside the grey bowl" ] }, { "task_id": "0002084", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.hit the pool ball, B.open the cabinet door, C.press the button on the coffee machine, D.place the mouse to the right of the keyboard], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002084.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.open the cabinet door", "C.press the button on the coffee machine", "D.place the mouse to the right of the keyboard" ] }, { "task_id": "0002085", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the button on the water dispenser, B.place the lid on the table, C.play the drum, D.move the block to the top of the block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002085.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the water dispenser", "B.place the lid on the table", "C.play the drum", "D.move the block to the top of the block" ] }, { "task_id": "0002086", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a stick from the desk and turn the dial on the rotary phone in a clockwise direction, B.take the dish off the dish rack, C.place the blue toothbrush on the counter, D.put the lid on the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002086.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a stick from the desk and turn the dial on the rotary phone in a clockwise direction", "B.take the dish off the dish rack", "C.place the blue toothbrush on the counter", "D.put the lid on the pot" ] }, { "task_id": "0002087", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the blue clothing on the left armrest of the sofa, B.pick up and place an object with obstacles, C.transfer the lid from the blue pot to the black pot, D.clockwise rotate the bracket] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002087.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the blue clothing on the left armrest of the sofa", "B.pick up and place an object with obstacles", "C.transfer the lid from the blue pot to the black pot", "D.clockwise rotate the bracket" ] }, { "task_id": "0002088", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the block in the bowl, B.press the button of the coffee machine, C.move the cloth on the back of the chair back and forth over the backs of the two chairs, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002088.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block in the bowl", "B.press the button of the coffee machine", "C.move the cloth on the back of the chair back and forth over the backs of the two chairs", "D.push the soccer ball into the goal" ] }, { "task_id": "0002089", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the glass cup on the right side of the table, B.hang the cloth on the black stand, C.fold the green towel, D.rotate the steering wheel 90 degrees clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002089.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass cup on the right side of the table", "B.hang the cloth on the black stand", "C.fold the green towel", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0002090", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hit the pool ball, B.take the pen from the cup onto the table, C.push the soccer ball into the goal, D.stack the bowls] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002090.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.take the pen from the cup onto the table", "C.push the soccer ball into the goal", "D.stack the bowls" ] }, { "task_id": "0002092", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the green object inside the pot in the sink, B.pick up the cup, C.move the object into the bowl, D.transfer the toy from the table to the storage bag], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002092.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green object inside the pot in the sink", "B.pick up the cup", "C.move the object into the bowl", "D.transfer the toy from the table to the storage bag" ] }, { "task_id": "0002093", "task": "TrajChoice", "id": "RH20T_cfg4_task_0066_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the glass bottle on the right side of the cup on the table, B.put the orange toy into the silver pot, C.build with large Megabloks for the nth time with n blocks, D.move the black mug from the left side to the right side] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002093.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass bottle on the right side of the cup on the table", "B.put the orange toy into the silver pot", "C.build with large Megabloks for the nth time with n blocks", "D.move the black mug from the left side to the right side" ] }, { "task_id": "0002094", "task": "TrajChoice", "id": "RH20T_cfg4_task_0066_user_0015_scene_0002_cfg_0004_104122062823#291", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.build with large Megabloks for the nth time with n blocks, B.folding a towel, C.move the blue jar to the right, D.installing a light bulb by rotating it], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002094.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.folding a towel", "C.move the blue jar to the right", "D.installing a light bulb by rotating it" ] }, { "task_id": "0002095", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the pencil out from the pencil sharpener, B.assemble: attach the bubble ring to the ball, C.press the key on the keyboard, D.place the brush on the pen rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002095.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.assemble: attach the bubble ring to the ball", "C.press the key on the keyboard", "D.place the brush on the pen rack" ] }, { "task_id": "0002096", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.fold the cloth on the table, B.plug in the power cord to the socket, C.place the brush on the pen rack, D.put the marker on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002096.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the cloth on the table", "B.plug in the power cord to the socket", "C.place the brush on the pen rack", "D.put the marker on the table" ] }, { "task_id": "0002097", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the power strip by pressing the button, B.put the marker into the green cup, C.flatten the brown blanket, D.turn the TV to the right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002097.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.put the marker into the green cup", "C.flatten the brown blanket", "D.turn the TV to the right" ] }, { "task_id": "0002098", "task": "TrajChoice", "id": "RH20T_cfg3_task_0067_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the green packet to the right, B.put the blocks into the green bowl, C.pour the contents in the glass cup into the bowl on the left, D.press a button from top to bottom with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002098.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green packet to the right", "B.put the blocks into the green bowl", "C.pour the contents in the glass cup into the bowl on the left", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0002099", "task": "TrajChoice", "id": "RH20T_cfg4_task_0202_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the lid from the brown pot and transfer it to the pot, B.put the silver pot on the kitchen scale, C.insert the tip of a small pipette into the holder for small pipette tips, D.move the helmet from the seat of the chair to the right arm rest] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002099.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the brown pot and transfer it to the pot", "B.put the silver pot on the kitchen scale", "C.insert the tip of a small pipette into the holder for small pipette tips", "D.move the helmet from the seat of the chair to the right arm rest" ] }, { "task_id": "0002100", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the white cube inside the box, B.put the yellow block in the cup, C.push the faucet on the left to the left, D.press the red button on the desktop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002100.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cube inside the box", "B.put the yellow block in the cup", "C.push the faucet on the left to the left", "D.press the red button on the desktop" ] }, { "task_id": "0002101", "task": "TrajChoice", "id": "RH20T_cfg5_task_0036_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wave the flag, B.take the cup from the side of the marker to the other side of the marker, C.transfer the item from the table to the new location, D.shake the test tube] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002101.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.take the cup from the side of the marker to the other side of the marker", "C.transfer the item from the table to the new location", "D.shake the test tube" ] }, { "task_id": "0002102", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.put the toy in the bowl, C.put the marker on the white paper, D.move the towel onto the sofa] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002102.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.put the toy in the bowl", "C.put the marker on the white paper", "D.move the towel onto the sofa" ] }, { "task_id": "0002105", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the black pot on the right back plate of the stove, B.move the right silver bowl forward and to the left, C.place the chopsticks through the white lid's hole, D.place the handset of the telephone on the corresponding phone cradle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002105.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the black pot on the right back plate of the stove", "B.move the right silver bowl forward and to the left", "C.place the chopsticks through the white lid's hole", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0002106", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the roll of paper down from the shelf, B.move the orange can, then put the black can upright, C.pick up the cup and put it on the left side of the table, D.press the button on the machine] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002106.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.move the orange can, then put the black can upright", "C.pick up the cup and put it on the left side of the table", "D.press the button on the machine" ] }, { "task_id": "0002107", "task": "TrajChoice", "id": "RH20T_cfg2_task_0076_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker in the cup, B.move the blue block forward and press, C.pick the cup and put it in the drawer, D.move the green marker to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002107.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.move the blue block forward and press", "C.pick the cup and put it in the drawer", "D.move the green marker to the left" ] }, { "task_id": "0002108", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.play the drum, B.take the snack pack out of the sink, C.push the toaster lever down, D.put the string in the slot on the object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002108.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.take the snack pack out of the sink", "C.push the toaster lever down", "D.put the string in the slot on the object" ] }, { "task_id": "0002109", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the cup, B.approach and touch the side of the small block, C.take the cup from the plate to the table, D.move the knife from the cloth to the knife rack] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002109.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup", "B.approach and touch the side of the small block", "C.take the cup from the plate to the table", "D.move the knife from the cloth to the knife rack" ] }, { "task_id": "0002110", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0003_scene_0010_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take out a Hanoi block and throw it aside, B.turn on the toaster, C.move the small glass object from the middle of the table to the bottom left corner, D.pour the contents from the right pot into the black pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002110.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.turn on the toaster", "C.move the small glass object from the middle of the table to the bottom left corner", "D.pour the contents from the right pot into the black pot" ] }, { "task_id": "0002111", "task": "TrajChoice", "id": "RH20T_cfg6_task_0055_user_0014_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the faucet handle to turn on the water, B.put the gray cloth in the drawer, C.move the cup on the table to the right side, D.transfer a liquid using a dropper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002111.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the faucet handle to turn on the water", "B.put the gray cloth in the drawer", "C.move the cup on the table to the right side", "D.transfer a liquid using a dropper" ] }, { "task_id": "0002112", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the left cabinet door, B.turn on the desk lamp by pressing the button, C.press the button from top to bottom, D.put the red box in the lower right corner of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002112.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the left cabinet door", "B.turn on the desk lamp by pressing the button", "C.press the button from top to bottom", "D.put the red box in the lower right corner of the table" ] }, { "task_id": "0002114", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0001_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the contents in the bottle and pour the contents from the spoon into the bottle, B.the jenga piece, C.press the button on the handle of the kettle to open it, D.put the towel in the basket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002114.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the contents in the bottle and pour the contents from the spoon into the bottle", "B.the jenga piece", "C.press the button on the handle of the kettle to open it", "D.put the towel in the basket" ] }, { "task_id": "0002115", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grasp a small block to sweep the other small block into the designated position, B.put the masking tape on the rack, C.get the yellow block from the table and place it in the blue cup, D.move the green mug forwards], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002115.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep the other small block into the designated position", "B.put the masking tape on the rack", "C.get the yellow block from the table and place it in the blue cup", "D.move the green mug forwards" ] }, { "task_id": "0002116", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wave the flag, B.move the object from the orange cup to the light green bowl, C.place the silver lid on the silver kettle, D.push the drawer closed] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002116.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.move the object from the orange cup to the light green bowl", "C.place the silver lid on the silver kettle", "D.push the drawer closed" ] }, { "task_id": "0002119", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the handset of the telephone on the phone cradle, B.pick up the power cord, C.fold the towel once on the table, D.put the black object from the box onto the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002119.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the phone cradle", "B.pick up the power cord", "C.fold the towel once on the table", "D.put the black object from the box onto the table" ] }, { "task_id": "0002120", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the top drawer of the file cabinet, B.place the black object inside the cup, C.pour the contents of the cup onto the table, D.clean the table with a cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002120.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the file cabinet", "B.place the black object inside the cup", "C.pour the contents of the cup onto the table", "D.clean the table with a cloth" ] }, { "task_id": "0002121", "task": "TrajChoice", "id": "RH20T_cfg4_task_0031_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up a grey object from the countertop and put it inside the grey bin, B.cover the box, C.open the cabinet door, D.open the right cabinet door] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002121.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a grey object from the countertop and put it inside the grey bin", "B.cover the box", "C.open the cabinet door", "D.open the right cabinet door" ] }, { "task_id": "0002122", "task": "TrajChoice", "id": "RH20T_cfg1_task_0090_user_0001_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick the marker from the cup, B.play the drum, C.transfer the light green cup from the tabletop to the light green bowl, and place the knife inside the light green cup, D.approach and touch an object with obstacles], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002122.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the marker from the cup", "B.play the drum", "C.transfer the light green cup from the tabletop to the light green bowl, and place the knife inside the light green cup", "D.approach and touch an object with obstacles" ] }, { "task_id": "0002123", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.plug the USB plug into the socket, B.take the blue shirt and put it on the seat of the chair, C.hit the pool ball, D.take something out of a drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002123.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug the USB plug into the socket", "B.take the blue shirt and put it on the seat of the chair", "C.hit the pool ball", "D.take something out of a drawer" ] }, { "task_id": "0002124", "task": "TrajChoice", "id": "RH20T_cfg5_task_0100_user_0007_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the green marker and then put it back down, B.put the chocolate bar into the sink, C.stir the beaker with a spoon, D.pour the water from one cup into another empty cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002124.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green marker and then put it back down", "B.put the chocolate bar into the sink", "C.stir the beaker with a spoon", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0002125", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup to the edge of the table, B.use the gripper to push the small block from left to right, C.push the soccer ball into the goal, D.unfold the cloth on the pillow] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002125.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the edge of the table", "B.use the gripper to push the small block from left to right", "C.push the soccer ball into the goal", "D.unfold the cloth on the pillow" ] }, { "task_id": "0002126", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the orange tool and put it in the bowl, B.pick up the white plate on the right side of the dishwasher and put it on top of the plate on the counter, C.clean the tabletop with a sponge, D.pick the marker and put it in the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002126.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange tool and put it in the bowl", "B.pick up the white plate on the right side of the dishwasher and put it on top of the plate on the counter", "C.clean the tabletop with a sponge", "D.pick the marker and put it in the pot" ] }, { "task_id": "0002127", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put a book and a hoodie from the couch into the box, B.put the white cable in the storage box, C.put the green can in the sink on the left, D.clean the table with a cloth], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002127.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a book and a hoodie from the couch into the box", "B.put the white cable in the storage box", "C.put the green can in the sink on the left", "D.clean the table with a cloth" ] }, { "task_id": "0002128", "task": "TrajChoice", "id": "RH20T_cfg1_task_0069_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.assemble one piece of a puzzle, B.pick up the small block on the left and move it to the right, C.place the plate on the shelf, D.take the cup off the cup rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002128.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.pick up the small block on the left and move it to the right", "C.place the plate on the shelf", "D.take the cup off the cup rack" ] }, { "task_id": "0002129", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0014_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close a sliding window, B.open the second top cabinet door, C.taking out the light bulb by rotating it, D.put the object into the water tank], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002129.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.open the second top cabinet door", "C.taking out the light bulb by rotating it", "D.put the object into the water tank" ] }, { "task_id": "0002130", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0010_scene_0006_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the pen in the mug, B.stack the three cups and move them to the left, C.put the green grapes inside the pot in the sink, D.place the block on the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002130.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the mug", "B.stack the three cups and move them to the left", "C.put the green grapes inside the pot in the sink", "D.place the block on the scale" ] }, { "task_id": "0002131", "task": "TrajChoice", "id": "RH20T_cfg4_task_0106_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the blue glove into the paper cup, B.pour the contents of the box into the bucket, C.pull the towel to the corner of the bed, D.put the button on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002131.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue glove into the paper cup", "B.pour the contents of the box into the bucket", "C.pull the towel to the corner of the bed", "D.put the button on the table" ] }, { "task_id": "0002133", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the strawberry plush toy into the sink, B.fold the towel on the table and bring the object to the front, C.put the yellow cube in the blue cup, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002133.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the strawberry plush toy into the sink", "B.fold the towel on the table and bring the object to the front", "C.put the yellow cube in the blue cup", "D.place the block on the scale" ] }, { "task_id": "0002134", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0002_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the yellow towel to wipe the table, B.pour the objects partially inside the transparent cup into the red bowl, C.open a sliding window, D.remove the pen from the mug] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002134.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the yellow towel to wipe the table", "B.pour the objects partially inside the transparent cup into the red bowl", "C.open a sliding window", "D.remove the pen from the mug" ] }, { "task_id": "0002135", "task": "TrajChoice", "id": "RH20T_cfg1_task_0041_user_0014_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.clean the tabletop with a sponge, B.press the button on the bottom right corner of the toaster, C.place the pen on the table, D.take the carrot toy out of the basket and place it above the black cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002135.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.press the button on the bottom right corner of the toaster", "C.place the pen on the table", "D.take the carrot toy out of the basket and place it above the black cup" ] }, { "task_id": "0002136", "task": "TrajChoice", "id": "RH20T_cfg2_task_0094_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.click the top left button on the keyboard, B.press the water dispenser button, C.open a box, D.put the chocolate bar on the bottom shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002136.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.click the top left button on the keyboard", "B.press the water dispenser button", "C.open a box", "D.put the chocolate bar on the bottom shelf" ] }, { "task_id": "0002137", "task": "TrajChoice", "id": "RH20T_cfg3_task_0008_user_0016_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the orange cup from the box and put it on the table, B.grab the block and place it at the designated location, C.put the black wallet in the black bag, D.move the white and green bottle to the left side of the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002137.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange cup from the box and put it on the table", "B.grab the block and place it at the designated location", "C.put the black wallet in the black bag", "D.move the white and green bottle to the left side of the counter" ] }, { "task_id": "0002138", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0008_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take out a Hanoi block and throw it aside, B.pressing the bread machine's switch, C.fold the blue cloth in half, D.move the cloth from the table to the shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002138.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.pressing the bread machine's switch", "C.fold the blue cloth in half", "D.move the cloth from the table to the shelf" ] }, { "task_id": "0002139", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.stacking blocks (small Lego) randomly one at a time, B.pick the marker from the bowl and put it on the table, C.transfer the item from the countertop to the drawer, D.put the cup on the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002139.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks (small Lego) randomly one at a time", "B.pick the marker from the bowl and put it on the table", "C.transfer the item from the countertop to the drawer", "D.put the cup on the cup rack" ] }, { "task_id": "0002140", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drop a coin into a piggy bank, B.grab the block and place it at the designated location, C.put the marker in the mug, D.pick the bottle and move it to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002140.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.grab the block and place it at the designated location", "C.put the marker in the mug", "D.pick the bottle and move it to the left" ] }, { "task_id": "0002141", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn the hands of a clock, B.press the red button on the orange base, C.transfer the object from the table to the front of the table, D.press the button on the machine horizontally], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002141.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.press the red button on the orange base", "C.transfer the object from the table to the front of the table", "D.press the button on the machine horizontally" ] }, { "task_id": "0002142", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0009_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slide the towel slightly to the left, B.put the blue object on the dish rack, C.stack the bowls, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002142.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the towel slightly to the left", "B.put the blue object on the dish rack", "C.stack the bowls", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0002143", "task": "TrajChoice", "id": "RH20T_cfg1_task_0066_user_0014_scene_0004_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the blue travel mug from the plate rack and place it on the edge of the sink, B.place the red Megablok on the Megablok base, C.put the coaster into the drawer, D.take the object out of the bag and place it on the bed], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002143.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue travel mug from the plate rack and place it on the edge of the sink", "B.place the red Megablok on the Megablok base", "C.put the coaster into the drawer", "D.take the object out of the bag and place it on the bed" ] }, { "task_id": "0002144", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0014_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.scoop water with a large spoon from one bowl to another, B.take the pen out of the cup and put it on the table, C.push the basketball onto the shovel, D.press the button on the machine], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002144.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scoop water with a large spoon from one bowl to another", "B.take the pen out of the cup and put it on the table", "C.push the basketball onto the shovel", "D.press the button on the machine" ] }, { "task_id": "0002145", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the knob to increase the volume of the speaker, B.grasp the handle and open the drawer, C.push open the tissue cover, D.press the button atop the lid and then place the lid on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002145.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.grasp the handle and open the drawer", "C.push open the tissue cover", "D.press the button atop the lid and then place the lid on the table" ] }, { "task_id": "0002146", "task": "TrajChoice", "id": "RH20T_cfg1_task_0060_user_0001_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn the knob to decrease the volume of the speaker, B.press the first switch on the left, C.play the first move as black on the 3-4 point in the upper right corner of the Go board, D.put the lid on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002146.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.press the first switch on the left", "C.play the first move as black on the 3-4 point in the upper right corner of the Go board", "D.put the lid on the table" ] }, { "task_id": "0002147", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0015_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the water dispenser button, B.pick up the towel and wipe the countertop with it, C.close the container, D.take something out of a drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002147.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the water dispenser button", "B.pick up the towel and wipe the countertop with it", "C.close the container", "D.take something out of a drawer" ] }, { "task_id": "0002148", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0015_scene_0007_cfg_0004_038522062288#276", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take something out of a drawer, B.put the blue ring on the table, C.pick up the small block on the left and move it to the right, D.open the doors of the top cabinet, get a spice bottle and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002148.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.put the blue ring on the table", "C.pick up the small block on the left and move it to the right", "D.open the doors of the top cabinet, get a spice bottle and put it on the table" ] }, { "task_id": "0002149", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.taking out the light bulb by rotating it, B.remove the bubble ring, C.move the bottle to the table, D.push the small red button on the control panel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002149.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.taking out the light bulb by rotating it", "B.remove the bubble ring", "C.move the bottle to the table", "D.push the small red button on the control panel" ] }, { "task_id": "0002150", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0010_scene_0003_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the tulip plush toy to the right side of the table, B.move the whey packet from the left corner to the front right of the counter, C.move the water bottle onto the top part of the counter, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002150.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tulip plush toy to the right side of the table", "B.move the whey packet from the left corner to the front right of the counter", "C.move the water bottle onto the top part of the counter", "D.remove the object from the scale" ] }, { "task_id": "0002151", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the can in the sink, B.approach and touch the side of the small block, C.take a bowl off the stack of bowls, D.take the fruit knife from the countertop and put it into the open drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002151.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the can in the sink", "B.approach and touch the side of the small block", "C.take a bowl off the stack of bowls", "D.take the fruit knife from the countertop and put it into the open drawer" ] }, { "task_id": "0002152", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push down the right switch of the toaster, B.pick up a bag of things, C.put the object on the table, D.put the blue object in the blue cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002152.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the right switch of the toaster", "B.pick up a bag of things", "C.put the object on the table", "D.put the blue object in the blue cup" ] }, { "task_id": "0002153", "task": "TrajChoice", "id": "RH20T_cfg3_task_0007_user_0016_scene_0005_cfg_0003_036422060909#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.holding a small block with the gripper and sweeping it from left to right on the table, B.move the ping pong paddle to the right, C.transfer the lid from the countertop to the bottle, D.press the key on the keyboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002153.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.holding a small block with the gripper and sweeping it from left to right on the table", "B.move the ping pong paddle to the right", "C.transfer the lid from the countertop to the bottle", "D.press the key on the keyboard" ] }, { "task_id": "0002154", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0012_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the coffee maker, B.pick up the small block on the left and move it to the right, C.put the brown cup in the sink, D.put the green object in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002154.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the coffee maker", "B.pick up the small block on the left and move it to the right", "C.put the brown cup in the sink", "D.put the green object in the bowl" ] }, { "task_id": "0002155", "task": "TrajChoice", "id": "RH20T_cfg4_task_0063_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the tablecloth from the left side to the right side, then shook the kettle behind the table, B.use a shovel to scoop up an object, C.pull the block to the left side of the table, D.approach and touch the side of the small block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002155.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the tablecloth from the left side to the right side, then shook the kettle behind the table", "B.use a shovel to scoop up an object", "C.pull the block to the left side of the table", "D.approach and touch the side of the small block" ] }, { "task_id": "0002156", "task": "TrajChoice", "id": "RH20T_cfg6_task_0031_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.cover the box, B.remove the marker from the mug and put it on the table, C.place the lid on the pot, D.put a blue sachet from the table into the blue box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002156.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.remove the marker from the mug and put it on the table", "C.place the lid on the pot", "D.put a blue sachet from the table into the blue box" ] }, { "task_id": "0002157", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the clear blue object to the storage bin, B.rotate the bag counterclockwise on the table, C.press the switch, D.grab the small block on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002157.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clear blue object to the storage bin", "B.rotate the bag counterclockwise on the table", "C.press the switch", "D.grab the small block on the table" ] }, { "task_id": "0002158", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0015_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the sliding window, B.Insert the tip of a medium pipette into the holder for medium pipette tips, C.put the marker in the cup, D.the window blinds] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002158.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the sliding window", "B.Insert the tip of a medium pipette into the holder for medium pipette tips", "C.put the marker in the cup", "D.the window blinds" ] }, { "task_id": "0002159", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the clear container forwards, place the orange block on top of the wooden box, B.move the cable to the left, C.put the orange object on the wood board, D.put the things in the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002159.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clear container forwards, place the orange block on top of the wooden box", "B.move the cable to the left", "C.put the orange object on the wood board", "D.put the things in the drawer" ] }, { "task_id": "0002160", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0005_cfg_0002_105422061350#608", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen into the pen holder, B.move the fork from the right section of the drying rack to the far left section, C.put the things in the drawer, D.press the coffee machine's button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002160.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.move the fork from the right section of the drying rack to the far left section", "C.put the things in the drawer", "D.press the coffee machine's button" ] }, { "task_id": "0002161", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0007_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.move the blue block on the right to the left, C.move the glue forward then move the can from right to left, D.put the pink object on the kitchen counter top], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002161.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move the blue block on the right to the left", "C.move the glue forward then move the can from right to left", "D.put the pink object on the kitchen counter top" ] }, { "task_id": "0002162", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker inside the mug cup, B.put the jar on the shelf, C.rotate the rack clockwise, D.move an object from one box to another] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002162.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the mug cup", "B.put the jar on the shelf", "C.rotate the rack clockwise", "D.move an object from one box to another" ] }, { "task_id": "0002163", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.adjust the angle and orientation of the toy, B.open the bin and put the white cup in the bin, C.pick up the orange object and put it in the toy cup, D.place the block on the black circle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002163.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.adjust the angle and orientation of the toy", "B.open the bin and put the white cup in the bin", "C.pick up the orange object and put it in the toy cup", "D.place the block on the black circle" ] }, { "task_id": "0002164", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bowl to the right, B.close the drawer, C.remove the object from the scale, D.pick up the egg from the table and place it inside the empty red bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002164.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the right", "B.close the drawer", "C.remove the object from the scale", "D.pick up the egg from the table and place it inside the empty red bowl" ] }, { "task_id": "0002165", "task": "TrajChoice", "id": "RH20T_cfg4_task_0075_user_0007_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.finish setting up the starting position of a chessboard that is almost arranged, B.turn on the desk lamp by pressing the button, C.move a blue block from the plate to the box, D.pick up the lid and put it on the silver bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002165.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.turn on the desk lamp by pressing the button", "C.move a blue block from the plate to the box", "D.pick up the lid and put it on the silver bowl" ] }, { "task_id": "0002166", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.play jenga, B.put the pot in the sink, C.push the faucet to the center of the sink, D.place the balloon on the countertop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002166.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.put the pot in the sink", "C.push the faucet to the center of the sink", "D.place the balloon on the countertop" ] }, { "task_id": "0002167", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0006_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the packaging bag from the tabletop to the shelf, B.put the black object in the middle of the table, C.drag the plate to the goal post after holding it down, D.put the marker on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002167.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the packaging bag from the tabletop to the shelf", "B.put the black object in the middle of the table", "C.drag the plate to the goal post after holding it down", "D.put the marker on the table" ] }, { "task_id": "0002168", "task": "TrajChoice", "id": "RH20T_cfg1_task_0029_user_0001_scene_0003_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the orange cup into the black bowl, B.throw the rubber duck on the table, C.move the white bowl to the left, D.grasp the handle and open the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002168.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup into the black bowl", "B.throw the rubber duck on the table", "C.move the white bowl to the left", "D.grasp the handle and open the drawer" ] }, { "task_id": "0002169", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the right light switch, B.pull out a napkin, C.put the marker in the cup, D.Insert the tip of a medium pipette into the holder for medium pipette tips] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002169.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the right light switch", "B.pull out a napkin", "C.put the marker in the cup", "D.Insert the tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0002170", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the blue object, put it in the open drawer and close it, B.move the bear forward, C.remove the object from the scale, D.place the pen inside the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002170.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the blue object, put it in the open drawer and close it", "B.move the bear forward", "C.remove the object from the scale", "D.place the pen inside the cup" ] }, { "task_id": "0002171", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the lid on the white towel, B.taking out the light bulb by rotating it, C.place the toy from the left bottom corner of the table to the middle of the table, D.press a button horizontally with obstacles] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002171.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the white towel", "B.taking out the light bulb by rotating it", "C.place the toy from the left bottom corner of the table to the middle of the table", "D.press a button horizontally with obstacles" ] }, { "task_id": "0002172", "task": "TrajChoice", "id": "RH20T_cfg4_task_0074_user_0007_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the green button on the white base, B.put the object with the corresponding shape into the corresponding hole, C.put the green toy into the bowl, D.sharpen the pencil with a pencil sharpener] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002172.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the green button on the white base", "B.put the object with the corresponding shape into the corresponding hole", "C.put the green toy into the bowl", "D.sharpen the pencil with a pencil sharpener" ] }, { "task_id": "0002173", "task": "TrajChoice", "id": "RH20T_cfg2_task_0109_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pen inside the cup, B.close the faucet, open the faucet, close the faucet, C.switch on the stove light, D.insert the pencil into the pencil sharpener] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002173.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen inside the cup", "B.close the faucet, open the faucet, close the faucet", "C.switch on the stove light", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0002174", "task": "TrajChoice", "id": "RH20T_cfg5_task_0072_user_0007_scene_0010_cfg_0005_036422060215#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the left and right books in the black box respectively, B.drop a coin into a piggy bank, C.put the garbage in the trash can, D.turn on the water tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002174.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the left and right books in the black box respectively", "B.drop a coin into a piggy bank", "C.put the garbage in the trash can", "D.turn on the water tap" ] }, { "task_id": "0002175", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0014_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the yellow object inside the white bowl, B.place the white cloth and the pot lid on the stove, C.put the cup on the cup rack, D.sliding the pot forward on the stove] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002175.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow object inside the white bowl", "B.place the white cloth and the pot lid on the stove", "C.put the cup on the cup rack", "D.sliding the pot forward on the stove" ] }, { "task_id": "0002176", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0012_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the faucet then open it again, B.pour some of the things in the jug into the bowl, C.put the fabric in the drawer, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002176.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the faucet then open it again", "B.pour some of the things in the jug into the bowl", "C.put the fabric in the drawer", "D.put the cup on the cup rack" ] }, { "task_id": "0002177", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the spoon on the table, B.remove the grape plush from the stove and put it in the sink pot, C.put the things in the drawer, D.put the ball into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002177.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the spoon on the table", "B.remove the grape plush from the stove and put it in the sink pot", "C.put the things in the drawer", "D.put the ball into the basket" ] }, { "task_id": "0002178", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0006_cfg_0002_037522062165#189", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the object, B.put the things in the drawer, C.pick up the pen from the light green cup and put it on the right side of the table, D.move the small block from under the table and place it on top of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002178.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the object", "B.put the things in the drawer", "C.pick up the pen from the light green cup and put it on the right side of the table", "D.move the small block from under the table and place it on top of the table" ] }, { "task_id": "0002179", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.finish setting up the starting position of a chessboard that is almost arranged, B.put the orange item in the cup, C.turn off the light, D.pick the marker and put it in the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002179.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.put the orange item in the cup", "C.turn off the light", "D.pick the marker and put it in the box" ] }, { "task_id": "0002180", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0008_cfg_0005_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the towel to the left, B.move the purple Hanoi block from the stand to the table, C.transfer the jar from the countertop to the sink, D.move the object slightly near the silver bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002180.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel to the left", "B.move the purple Hanoi block from the stand to the table", "C.transfer the jar from the countertop to the sink", "D.move the object slightly near the silver bowl" ] }, { "task_id": "0002181", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0010_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the soccer ball into the goal, B.take the object from the countertop and place it into the black container, C.place the white and yellow bottles upside down on the right side of the counter, D.put the orange cloth on the chair head rest], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002181.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.take the object from the countertop and place it into the black container", "C.place the white and yellow bottles upside down on the right side of the counter", "D.put the orange cloth on the chair head rest" ] }, { "task_id": "0002182", "task": "TrajChoice", "id": "RH20T_cfg1_task_0011_user_0008_scene_0004_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open a box, B.water the plant, C.turn on the desk lamp by pressing the button, D.pour the contents of the green cup onto the plate], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002182.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.water the plant", "C.turn on the desk lamp by pressing the button", "D.pour the contents of the green cup onto the plate" ] }, { "task_id": "0002183", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the block on the scale, B.pick up the fleece blanket from the chair seat and place it on the backrest of the chair, C.remove the object from the scale, D.push the drawer to close it] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002183.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.pick up the fleece blanket from the chair seat and place it on the backrest of the chair", "C.remove the object from the scale", "D.push the drawer to close it" ] }, { "task_id": "0002184", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the pillow, B.put the drink on the table into the cabinet, C.put the black object on the sofa, D.put the toilet paper on its holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002184.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pillow", "B.put the drink on the table into the cabinet", "C.put the black object on the sofa", "D.put the toilet paper on its holder" ] }, { "task_id": "0002185", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0020_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.stacking blocks, B.open the upper part of the cabinet doors, C.place the handset of the telephone on the corresponding phone cradle, D.place the lid on top of the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002185.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks", "B.open the upper part of the cabinet doors", "C.place the handset of the telephone on the corresponding phone cradle", "D.place the lid on top of the pot" ] }, { "task_id": "0002186", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the seal tape and put it on the right side of the table, B.pull out a napkin, C.take the marker out of the cup and put it on the table, D.place the small cube behind the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002186.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the seal tape and put it on the right side of the table", "B.pull out a napkin", "C.take the marker out of the cup and put it on the table", "D.place the small cube behind the box" ] }, { "task_id": "0002187", "task": "TrajChoice", "id": "RH20T_cfg4_task_0002_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the cloth and hang it on the object, B.put the sneakers on top of the orange pillow, C.move the white bowl to the right, D.pull out a napkin and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002187.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth and hang it on the object", "B.put the sneakers on top of the orange pillow", "C.move the white bowl to the right", "D.pull out a napkin and place it on the table" ] }, { "task_id": "0002188", "task": "TrajChoice", "id": "RH20T_cfg2_task_0074_user_0014_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button horizontally, B.screw the lid onto the jar (needs to be twisted), C.put the lid on the cloth onto the table, D.put the white cloth on the stand] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002188.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.screw the lid onto the jar (needs to be twisted)", "C.put the lid on the cloth onto the table", "D.put the white cloth on the stand" ] }, { "task_id": "0002189", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.grasp the moving object, B.put the sunglasses into the plate, C.press the button on the wall, D.wipe the desk with the cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002189.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the moving object", "B.put the sunglasses into the plate", "C.press the button on the wall", "D.wipe the desk with the cloth" ] }, { "task_id": "0002190", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pour the contents from the bowl into the silver bowl, B.pour the water from one cup into another empty cup, C.put the green can inside the sink, D.remove the blue object from the sink and place it on the right side of the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002190.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents from the bowl into the silver bowl", "B.pour the water from one cup into another empty cup", "C.put the green can inside the sink", "D.remove the blue object from the sink and place it on the right side of the counter" ] }, { "task_id": "0002191", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button from top to bottom, B.transfer the banana from the table to above the box, C.erase the notes with the blackboard eraser, D.put the toy into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002191.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.transfer the banana from the table to above the box", "C.erase the notes with the blackboard eraser", "D.put the toy into the bowl" ] }, { "task_id": "0002192", "task": "TrajChoice", "id": "RH20T_cfg2_task_0062_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the box to the left, B.put the toilet paper on its holder, C.get the marker from the green mug then put it on the table, D.open the bottom drawer of the file cabinet on the right] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002192.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the box to the left", "B.put the toilet paper on its holder", "C.get the marker from the green mug then put it on the table", "D.open the bottom drawer of the file cabinet on the right" ] }, { "task_id": "0002193", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press a button from top to bottom, B.place the block on the left side of the table, C.throw the clothes on the chair back into the nearby bin, D.place the black object on the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002193.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom", "B.place the block on the left side of the table", "C.throw the clothes on the chair back into the nearby bin", "D.place the black object on the cup" ] }, { "task_id": "0002194", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the door, B.use the gripper to push the small block from left to right, C.push down the toaster lever, D.rotate the knob on the control panel clockwise], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002194.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the door", "B.use the gripper to push the small block from left to right", "C.push down the toaster lever", "D.rotate the knob on the control panel clockwise" ] }, { "task_id": "0002195", "task": "TrajChoice", "id": "RH20T_cfg4_task_0209_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the switch of the adapter, B.slice the carrots, C.take the jacket off the back of the chair and put it on the seat, D.scrubbing the table with a brush] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002195.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the switch of the adapter", "B.slice the carrots", "C.take the jacket off the back of the chair and put it on the seat", "D.scrubbing the table with a brush" ] }, { "task_id": "0002196", "task": "TrajChoice", "id": "RH20T_cfg5_task_0049_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker in the green mug, B.rotate the steering wheel 90 degrees counterclockwise, C.remove the blue object from the pot, D.put the slipper on the shoes] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002196.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the green mug", "B.rotate the steering wheel 90 degrees counterclockwise", "C.remove the blue object from the pot", "D.put the slipper on the shoes" ] }, { "task_id": "0002197", "task": "TrajChoice", "id": "RH20T_cfg6_task_0130_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker in the bowl, B.place the pen into the bowl, C.move the marker to the right, D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002197.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.place the pen into the bowl", "C.move the marker to the right", "D.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb" ] }, { "task_id": "0002198", "task": "TrajChoice", "id": "RH20T_cfg6_task_0130_user_0014_scene_0003_cfg_0006_104122064161#208", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the sock from the windowsill and put it on the pullout drawer, B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb, C.put the water bottle on the top part of the counter, D.take the pillow to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002198.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the sock from the windowsill and put it on the pullout drawer", "B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb", "C.put the water bottle on the top part of the counter", "D.take the pillow to the right" ] }, { "task_id": "0002199", "task": "TrajChoice", "id": "RH20T_cfg5_task_0017_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.unfold the dish cloth on the table, B.rotate the button counterclockwise, C.move the towel into the bowl, D.put the pen into the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002199.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the dish cloth on the table", "B.rotate the button counterclockwise", "C.move the towel into the bowl", "D.put the pen into the pen holder" ] }, { "task_id": "0002200", "task": "TrajChoice", "id": "RH20T_cfg4_task_0209_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the oil bottle from the upper right corner of the table to the lower left corner of the table, B.after picking up the cue and striking the pool ball, place the cue on the pool table, C.pull out a napkin, D.slice the carrots] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002200.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the oil bottle from the upper right corner of the table to the lower left corner of the table", "B.after picking up the cue and striking the pool ball, place the cue on the pool table", "C.pull out a napkin", "D.slice the carrots" ] }, { "task_id": "0002201", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button from top to bottom, B.rotate the knob clockwise, C.put the green can on the gray base plate, D.put the yellow box in the blue cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002201.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.rotate the knob clockwise", "C.put the green can on the gray base plate", "D.put the yellow box in the blue cup" ] }, { "task_id": "0002203", "task": "TrajChoice", "id": "RH20T_cfg4_task_0112_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wave the flag, B.transfer the shovel from the table to the cup, C.plug in the charger to the socket, D.take the marker out of the mug and put it on the desk], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002203.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.transfer the shovel from the table to the cup", "C.plug in the charger to the socket", "D.take the marker out of the mug and put it on the desk" ] }, { "task_id": "0002204", "task": "TrajChoice", "id": "RH20T_cfg1_task_0209_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the coffee machine, B.put the green box into the bowl, C.slice the carrots, D.take the pen out of the bowl and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002204.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the coffee machine", "B.put the green box into the bowl", "C.slice the carrots", "D.take the pen out of the bowl and put it on the table" ] }, { "task_id": "0002205", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the yellow block in the cup, B.close the top drawer of the cabinet to the right, C.take the knife from the rack and put it on the cutting board, D.push the open drawer closed], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002205.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the cup", "B.close the top drawer of the cabinet to the right", "C.take the knife from the rack and put it on the cutting board", "D.push the open drawer closed" ] }, { "task_id": "0002207", "task": "TrajChoice", "id": "RH20T_cfg6_task_0006_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the knob to increase the volume of the speaker, B.pick the lid on the table, put it on the storage jar then press the button, C.move the orange block backward, D.use the gripper to push the small block from right to left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002207.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.pick the lid on the table, put it on the storage jar then press the button", "C.move the orange block backward", "D.use the gripper to push the small block from right to left" ] }, { "task_id": "0002208", "task": "TrajChoice", "id": "RH20T_cfg1_task_0016_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.transfer the block from the table to the box, B.pick up the green object from the table and put it in the bowl, C.hit the pool ball, D.fold the towel once on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002208.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the block from the table to the box", "B.pick up the green object from the table and put it in the bowl", "C.hit the pool ball", "D.fold the towel once on the table" ] }, { "task_id": "0002209", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick the sachet and put it in the basket, B.take a block out of the stack of blocks, C.place the marker in the bowl, D.take the marker out of the container and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002209.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the sachet and put it in the basket", "B.take a block out of the stack of blocks", "C.place the marker in the bowl", "D.take the marker out of the container and put it on the table" ] }, { "task_id": "0002210", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.rotate the steering wheel 90 degrees counterclockwise, B.put the spoon on the table into the drawer, C.place the handset of the telephone on the corresponding phone cradle, D.take the lid off of the pan and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002210.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees counterclockwise", "B.put the spoon on the table into the drawer", "C.place the handset of the telephone on the corresponding phone cradle", "D.take the lid off of the pan and put it on the table" ] }, { "task_id": "0002211", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the white cup to the right side of the table, B.take the grey box out of the container, C.place the kettle upside down on the table, D.slide the block on the desktop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002211.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cup to the right side of the table", "B.take the grey box out of the container", "C.place the kettle upside down on the table", "D.slide the block on the desktop" ] }, { "task_id": "0002212", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the machine's switch button to open the air outlet, B.put the orange block on the table, C.use the cloth to push the objects on the table to the left, then put them in the box, D.put the cup on the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002212.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the machine's switch button to open the air outlet", "B.put the orange block on the table", "C.use the cloth to push the objects on the table to the left, then put them in the box", "D.put the cup on the cup rack" ] }, { "task_id": "0002213", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.put the object in the sink, C.press the keyboard key, D.place the ball on the nightstand], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002213.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the object in the sink", "C.press the keyboard key", "D.place the ball on the nightstand" ] }, { "task_id": "0002214", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the faucet, then turn off the faucet, B.use the gripper to push the small block from back to front, C.the glass container on the scale is placed on the table, D.use a clamp] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002214.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the faucet, then turn off the faucet", "B.use the gripper to push the small block from back to front", "C.the glass container on the scale is placed on the table", "D.use a clamp" ] }, { "task_id": "0002216", "task": "TrajChoice", "id": "RH20T_cfg7_task_0004_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the toothbrush and put it in the silver cup, B.move an item from the glass box to the tray, C.put the wrench in the bowl, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002216.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the toothbrush and put it in the silver cup", "B.move an item from the glass box to the tray", "C.put the wrench in the bowl", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0002217", "task": "TrajChoice", "id": "RH20T_cfg4_task_0076_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the object into the bowl, B.pick up the yellow cable and put it in the tool box, C.transfer the toy from the bed to the white cloth, D.stack the blocks on the table on top of the stacked blocks], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002217.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object into the bowl", "B.pick up the yellow cable and put it in the tool box", "C.transfer the toy from the bed to the white cloth", "D.stack the blocks on the table on top of the stacked blocks" ] }, { "task_id": "0002218", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the spoon and the green cup in the chopstick holder, B.pick up the object from the cup and put it on the counter, C.play the drum, D.put the left towel on the seat of the chair then move the towel on the backrest of the right chair to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002218.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon and the green cup in the chopstick holder", "B.pick up the object from the cup and put it on the counter", "C.play the drum", "D.put the left towel on the seat of the chair then move the towel on the backrest of the right chair to the left" ] }, { "task_id": "0002219", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn the cup around, B.rotate the steering wheel 90 degrees clockwise, C.open a sliding window, D.put the marker inside the mug cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002219.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the cup around", "B.rotate the steering wheel 90 degrees clockwise", "C.open a sliding window", "D.put the marker inside the mug cup" ] }, { "task_id": "0002220", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0010_scene_0010_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the towel on the table, B.pick up a plush toy and put it in the sink, C.put the book on the kitchen counter, D.place the block on the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002220.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the table", "B.pick up a plush toy and put it in the sink", "C.put the book on the kitchen counter", "D.place the block on the scale" ] }, { "task_id": "0002221", "task": "TrajChoice", "id": "RH20T_cfg1_task_0071_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close a sliding window, B.slide the towel to the left, C.put the marker in the silver pot, D.put the marker on the left side of the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002221.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.slide the towel to the left", "C.put the marker in the silver pot", "D.put the marker on the left side of the counter" ] }, { "task_id": "0002222", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the paper on the table, B.push the book onto the shelf, C.push the soccer ball into the goal, D.move the bottle jar from the bag to the surface], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002222.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the paper on the table", "B.push the book onto the shelf", "C.push the soccer ball into the goal", "D.move the bottle jar from the bag to the surface" ] }, { "task_id": "0002223", "task": "TrajChoice", "id": "RH20T_cfg2_task_0069_user_0014_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.cover a lid, B.move the object from the left countertop to the sink, C.assemble one piece of a puzzle, D.slide the box to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002223.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover a lid", "B.move the object from the left countertop to the sink", "C.assemble one piece of a puzzle", "D.slide the box to the left" ] }, { "task_id": "0002224", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the two slices of bread in the two slots of the toaster, B.take a cloth from the right drawer and put it in the left drawer, C.move the white cap to the left, D.turn off the water tap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002224.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the two slices of bread in the two slots of the toaster", "B.take a cloth from the right drawer and put it in the left drawer", "C.move the white cap to the left", "D.turn off the water tap" ] }, { "task_id": "0002225", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.finish setting up the starting position of a chessboard that is almost arranged, B.put the yellow sponge in the black lunchbox on the windowsill, C.move the box to the right slightly, D.move the clear container to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002225.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.put the yellow sponge in the black lunchbox on the windowsill", "C.move the box to the right slightly", "D.move the clear container to the left" ] }, { "task_id": "0002226", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the pen from the mug and put it on the table, B.remove the object from the scale, C.take the pen out of the open drawer and put it on the counter, D.plug in the bulb holder to the socket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002226.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the mug and put it on the table", "B.remove the object from the scale", "C.take the pen out of the open drawer and put it on the counter", "D.plug in the bulb holder to the socket" ] }, { "task_id": "0002227", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the toilet paper on its holder, B.put the orange and the apple into the basket, C.put the towel on the bed, D.remove the marker from the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002227.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the orange and the apple into the basket", "C.put the towel on the bed", "D.remove the marker from the cup and put it on the table" ] }, { "task_id": "0002228", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.take the pen out of the cup and put it on the right side of the table, C.take out the spoon from the drawer and place the spoon on the table, D.place the oatmeal bar on the countertop into the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002228.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.take the pen out of the cup and put it on the right side of the table", "C.take out the spoon from the drawer and place the spoon on the table", "D.place the oatmeal bar on the countertop into the sink" ] }, { "task_id": "0002229", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.turn on the desk lamp by pressing the button, C.get the marker from the table and place it in the transparent cup, D.move the silver bowl to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002229.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.turn on the desk lamp by pressing the button", "C.get the marker from the table and place it in the transparent cup", "D.move the silver bowl to the left" ] }, { "task_id": "0002230", "task": "TrajChoice", "id": "RH20T_cfg7_task_0051_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the coffeemaker chamber, B.pick up the cup and put it on the right side of the table, C.take the dish off the dish rack, D.move the yellow plate to the front right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002230.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the coffeemaker chamber", "B.pick up the cup and put it on the right side of the table", "C.take the dish off the dish rack", "D.move the yellow plate to the front right side of the table" ] }, { "task_id": "0002231", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grasp a small block to sweep the other small block into the designated position, B.turn the knob to decrease the volume of the speaker, C.remove the white lid and put it on the table, D.put the book on the first layer above the second layer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002231.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep the other small block into the designated position", "B.turn the knob to decrease the volume of the speaker", "C.remove the white lid and put it on the table", "D.put the book on the first layer above the second layer" ] }, { "task_id": "0002232", "task": "TrajChoice", "id": "RH20T_cfg1_task_0069_user_0010_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place a piece of the puzzle onto the puzzle board, B.put the basket upright on the table, C.pull the curtain to close, D.put the white rope in the blue box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002232.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place a piece of the puzzle onto the puzzle board", "B.put the basket upright on the table", "C.pull the curtain to close", "D.put the white rope in the blue box" ] }, { "task_id": "0002233", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the pot and the lid from the white storage basket on the stove, B.press the left button on the mouse, C.wipe the table with the yellow towel, D.place the wooden block on the left side of the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002233.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pot and the lid from the white storage basket on the stove", "B.press the left button on the mouse", "C.wipe the table with the yellow towel", "D.place the wooden block on the left side of the box" ] }, { "task_id": "0002234", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grab the block and place it at the designated location, B.move the towel to the right, C.play the drum, D.pick the yellow block from the table and put it on the stack of blocks] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002234.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.move the towel to the right", "C.play the drum", "D.pick the yellow block from the table and put it on the stack of blocks" ] }, { "task_id": "0002235", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the pen from the cup and put it on the table, B.scoop water with a large spoon from one bowl to another, C.pour the fries out of the dark blue cup and onto the grey plate, D.transfer the pen from the desk to the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002235.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the table", "B.scoop water with a large spoon from one bowl to another", "C.pour the fries out of the dark blue cup and onto the grey plate", "D.transfer the pen from the desk to the cup" ] }, { "task_id": "0002237", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the square on the table into the box, B.screw the lid onto the jar (needs to be rotated), C.pick up the pink bowl and spoon, then put them inside the silver bowl, D.pull the curtains and place the green ball on the left side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002237.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the square on the table into the box", "B.screw the lid onto the jar (needs to be rotated)", "C.pick up the pink bowl and spoon, then put them inside the silver bowl", "D.pull the curtains and place the green ball on the left side of the table" ] }, { "task_id": "0002238", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up a small block, B.put the green block inside the black bowl, C.put the toy lid on the toy pot, D.take the pen out of the cup and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002238.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.put the green block inside the black bowl", "C.put the toy lid on the toy pot", "D.take the pen out of the cup and place it on the table" ] }, { "task_id": "0002239", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup on the plate, B.push the soccer ball into the goal, C.put the knife into the right drawer, D.close the bottom drawer of the file cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002239.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the plate", "B.push the soccer ball into the goal", "C.put the knife into the right drawer", "D.close the bottom drawer of the file cabinet" ] }, { "task_id": "0002240", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0018_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button on the espresso machine, B.move the block, C.close the computer, D.throw the object onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002240.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the espresso machine", "B.move the block", "C.close the computer", "D.throw the object onto the table" ] }, { "task_id": "0002241", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the orange clothes on the drying rack, B.water the plant, C.pick up the cup and put it on the table, D.move the faucet nozzle to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002241.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange clothes on the drying rack", "B.water the plant", "C.pick up the cup and put it on the table", "D.move the faucet nozzle to the right" ] }, { "task_id": "0002242", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the small block on the right and move it to the left, B.move the mug backwards, C.take the left towel from the hanger and put it on the countertop, D.open the white lid], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002242.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it to the left", "B.move the mug backwards", "C.take the left towel from the hanger and put it on the countertop", "D.open the white lid" ] }, { "task_id": "0002243", "task": "TrajChoice", "id": "RH20T_cfg4_task_0207_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the carrot plush toy backwards, move the blue towel backwards, B.remove the marker from the bowl, C.chop the chili peppers, D.turn off the toaster] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002243.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the carrot plush toy backwards, move the blue towel backwards", "B.remove the marker from the bowl", "C.chop the chili peppers", "D.turn off the toaster" ] }, { "task_id": "0002244", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the small black masking tape out of the top drawer and put it on the counter, B.pick the pen on the table and put it in the cup, C.take the T-shaped object off the shelf and place it on the table, D.dial a number on an old rotary phone with a small stick] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002244.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the small black masking tape out of the top drawer and put it on the counter", "B.pick the pen on the table and put it in the cup", "C.take the T-shaped object off the shelf and place it on the table", "D.dial a number on an old rotary phone with a small stick" ] }, { "task_id": "0002245", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the red button from top to bottom, B.pick up the orange cup and put it in the light blue cup, C.remove the toy from the black tray, D.move the pink cup to the right section of the plate rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002245.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the red button from top to bottom", "B.pick up the orange cup and put it in the light blue cup", "C.remove the toy from the black tray", "D.move the pink cup to the right section of the plate rack" ] }, { "task_id": "0002246", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the water from a cup into another empty cup, B.put the black lid on the blue pan, C.place the blue bottle next to the bowl, D.remove the white cloth from the black stand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002246.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from a cup into another empty cup", "B.put the black lid on the blue pan", "C.place the blue bottle next to the bowl", "D.remove the white cloth from the black stand" ] }, { "task_id": "0002247", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents in the grey measuring cup into a bowl, B.move the two cups to the countertop, C.place the block on the scale, D.put the marker in the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002247.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the grey measuring cup into a bowl", "B.move the two cups to the countertop", "C.place the block on the scale", "D.put the marker in the plate" ] }, { "task_id": "0002248", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the silver lid on the pot, B.put the blue block and coffee pod in the bowl, C.push the block to the left, D.put the orange masking tape in the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002248.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the silver lid on the pot", "B.put the blue block and coffee pod in the bowl", "C.push the block to the left", "D.put the orange masking tape in the drawer" ] }, { "task_id": "0002249", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the green can from the sink onto the countertop, B.put the garbage in the trash can, C.push the pointer to the left, D.put the pen into the pen holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002249.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the green can from the sink onto the countertop", "B.put the garbage in the trash can", "C.push the pointer to the left", "D.put the pen into the pen holder" ] }, { "task_id": "0002250", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0002_cfg_0004_104122062823#220", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the knife on the cutting board, B.move the black small pot onto the table, C.put the garbage in the trash can, D.hang the white cloth on the black stand], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002250.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.move the black small pot onto the table", "C.put the garbage in the trash can", "D.hang the white cloth on the black stand" ] }, { "task_id": "0002251", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.fold the towel, B.put the black bowl in the microwave, C.insert the tip of a large pipette into the holder for large pipette tips, D.uncover the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002251.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the towel", "B.put the black bowl in the microwave", "C.insert the tip of a large pipette into the holder for large pipette tips", "D.uncover the pot" ] }, { "task_id": "0002253", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the bottle on the table, B.drag the plate to the goal post after holding it down, C.put the ring on the table onto the cylinder, D.put the pen in the white bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002253.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bottle on the table", "B.drag the plate to the goal post after holding it down", "C.put the ring on the table onto the cylinder", "D.put the pen in the white bowl" ] }, { "task_id": "0002254", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0002_scene_0005_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toy into the bowl, B.press the button from top to bottom, C.put the lid on the table on the storage jar, D.rotate the white object counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002254.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy into the bowl", "B.press the button from top to bottom", "C.put the lid on the table on the storage jar", "D.rotate the white object counterclockwise" ] }, { "task_id": "0002255", "task": "TrajChoice", "id": "RH20T_cfg5_task_0200_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the pillow to the right, B.the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips, C.take the light blue block from the right side of the desk and put it on the green block, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002255.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pillow to the right", "B.the pharmaceutical experiment will insert the tip of a large pipette into the holder for large pipette tips", "C.take the light blue block from the right side of the desk and put it on the green block", "D.press the button from top to bottom" ] }, { "task_id": "0002256", "task": "TrajChoice", "id": "RH20T_cfg5_task_0035_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a small block, B.turn on the desk lamp by pressing the button, C.wipe the tabletop with a pink towel, D.put the bottle from the bag on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002256.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.turn on the desk lamp by pressing the button", "C.wipe the tabletop with a pink towel", "D.put the bottle from the bag on the table" ] }, { "task_id": "0002257", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open a box, B.push the block to the left side of the table, C.remove the marker from the mug and place it on the table, D.move the ball to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002257.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.push the block to the left side of the table", "C.remove the marker from the mug and place it on the table", "D.move the ball to the right" ] }, { "task_id": "0002258", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.change the position of the item, B.slide the outer casing onto the gift box, C.put the yellow cable in the grey tray, D.put the green block in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002258.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.change the position of the item", "B.slide the outer casing onto the gift box", "C.put the yellow cable in the grey tray", "D.put the green block in the bowl" ] }, { "task_id": "0002259", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place a shoe on top of its counterpart, B.pick up the pen from the table and put it in the white cup, C.water the plant, D.put the black marker on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002259.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place a shoe on top of its counterpart", "B.pick up the pen from the table and put it in the white cup", "C.water the plant", "D.put the black marker on the table" ] }, { "task_id": "0002260", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull out a napkin, B.hit the pool ball, C.close the top bedroom drawer, D.open the top right drawer, pick up the cloth from the top left drawer and put it in the top right drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002260.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.hit the pool ball", "C.close the top bedroom drawer", "D.open the top right drawer, pick up the cloth from the top left drawer and put it in the top right drawer" ] }, { "task_id": "0002261", "task": "TrajChoice", "id": "RH20T_cfg6_task_0011_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the lunchbox's lid in the sink, B.water the plant, C.put the bottle on the left side of the shelf, D.remove the ball from the scale and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002261.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lunchbox's lid in the sink", "B.water the plant", "C.put the bottle on the left side of the shelf", "D.remove the ball from the scale and place it on the table" ] }, { "task_id": "0002262", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button horizontally, B.put the black item on the plate, C.fold the towel, D.pour the small ball from the bowl into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002262.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.put the black item on the plate", "C.fold the towel", "D.pour the small ball from the bowl into the bowl" ] }, { "task_id": "0002263", "task": "TrajChoice", "id": "RH20T_cfg6_task_0004_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the green towel on the white basket, B.pick up the small block on the left and move it to the right, C.put the gray towel on the desk into the transparent bowl, D.pick the pen and put it in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002263.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green towel on the white basket", "B.pick up the small block on the left and move it to the right", "C.put the gray towel on the desk into the transparent bowl", "D.pick the pen and put it in the cup" ] }, { "task_id": "0002264", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the plate on the shelf, B.the cloth on the folding table, C.move the clothes to the left side of the bed, D.place the block on the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002264.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the plate on the shelf", "B.the cloth on the folding table", "C.move the clothes to the left side of the bed", "D.place the block on the scale" ] }, { "task_id": "0002265", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the door of the third cabinet, B.push the faucet handle downwards, C.grasp the moving object, D.pick up the top cap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002265.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the door of the third cabinet", "B.push the faucet handle downwards", "C.grasp the moving object", "D.pick up the top cap" ] }, { "task_id": "0002267", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button from top to bottom, B.remove the gray towel from the carrier bag and put it on the handle of the couch, C.put the white cloth on the table, D.turn the green pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002267.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.remove the gray towel from the carrier bag and put it on the handle of the couch", "C.put the white cloth on the table", "D.turn the green pot" ] }, { "task_id": "0002268", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.use the gripper to push the small block from right to left, B.place the brush on the pen rack, C.put the remote control from the table onto the white storage tray, D.move the cup towards the pen], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002268.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from right to left", "B.place the brush on the pen rack", "C.put the remote control from the table onto the white storage tray", "D.move the cup towards the pen" ] }, { "task_id": "0002269", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0020_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the small block from right to left, B.open the oven, C.drop a coin into the piggy bank, D.place the maroon object on the tray on the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002269.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block from right to left", "B.open the oven", "C.drop a coin into the piggy bank", "D.place the maroon object on the tray on the right" ] }, { "task_id": "0002270", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the elastic around the bottle, B.move the plate to the top of the container, C.screw the lid onto the jar (needs to be rotated), D.remove the green marker from the white bowl and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002270.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the elastic around the bottle", "B.move the plate to the top of the container", "C.screw the lid onto the jar (needs to be rotated)", "D.remove the green marker from the white bowl and put it on the table" ] }, { "task_id": "0002271", "task": "TrajChoice", "id": "RH20T_cfg6_task_0127_user_0014_scene_0006_cfg_0006_104122064161#552", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.hang the white cloth on the black frame, B.transfer the item from the box to the table, C.put the cup in the dishes tray, D.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002271.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the white cloth on the black frame", "B.transfer the item from the box to the table", "C.put the cup in the dishes tray", "D.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp" ] }, { "task_id": "0002272", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.close the door, B.use the gripper to push the small block from left to right, C.move the bottle from the right side to the left side, lifting the bottle over the box, D.remove the silver lid from the silver pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002272.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the door", "B.use the gripper to push the small block from left to right", "C.move the bottle from the right side to the left side, lifting the bottle over the box", "D.remove the silver lid from the silver pot" ] }, { "task_id": "0002273", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the towel to the right, B.wipe the microwave door with a cloth, C.pick up a bag of things, D.use a duster to clean the whiteboard], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002273.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel to the right", "B.wipe the microwave door with a cloth", "C.pick up a bag of things", "D.use a duster to clean the whiteboard" ] }, { "task_id": "0002274", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0020_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object on the object, B.put the block on the adapter, C.pull out a napkin, D.put the plate in the microwave] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002274.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the object", "B.put the block on the adapter", "C.pull out a napkin", "D.put the plate in the microwave" ] }, { "task_id": "0002275", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the pen on the counter, B.put the towel on the bed, C.drag the plate back, D.move the object from the bag to the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002275.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen on the counter", "B.put the towel on the bed", "C.drag the plate back", "D.move the object from the bag to the table" ] }, { "task_id": "0002276", "task": "TrajChoice", "id": "RH20T_cfg1_task_0030_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pull the towel to the edge of the table, B.pick up the can and place it upright on the table, C.pour out the contents of the test tube into the beaker, D.move the bottle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002276.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the towel to the edge of the table", "B.pick up the can and place it upright on the table", "C.pour out the contents of the test tube into the beaker", "D.move the bottle" ] }, { "task_id": "0002277", "task": "TrajChoice", "id": "RH20T_cfg4_task_0078_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the spoon from the bowl onto the countertop, B.put the marker in the mug, C.close the microwave door, D.pull the curtain], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002277.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon from the bowl onto the countertop", "B.put the marker in the mug", "C.close the microwave door", "D.pull the curtain" ] }, { "task_id": "0002278", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the ball from the box to the table, B.pull up the lever, C.push the faucet handle up and then down, D.gently push the block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002278.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the ball from the box to the table", "B.pull up the lever", "C.push the faucet handle up and then down", "D.gently push the block" ] }, { "task_id": "0002279", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the microwave door, B.turning the faucet counterclockwise, C.remove the green lid from the jar, D.turn off the water tap], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002279.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.turning the faucet counterclockwise", "C.remove the green lid from the jar", "D.turn off the water tap" ] }, { "task_id": "0002280", "task": "TrajChoice", "id": "RH20T_cfg2_task_0020_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the green towel on the table to the left, B.move the bottle to the left, C.put the marker on the table, D.turn on the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002280.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green towel on the table to the left", "B.move the bottle to the left", "C.put the marker on the table", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0002281", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the desk lamp by pressing the button, B.the button on the wall, C.pick up the orange toy from the table and put it in the pan, D.put the straw into the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002281.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.the button on the wall", "C.pick up the orange toy from the table and put it in the pan", "D.put the straw into the cup" ] }, { "task_id": "0002282", "task": "TrajChoice", "id": "RH20T_cfg7_task_0019_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button on the top right side of the machine, B.close the flask, C.put the bottle on the tray, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002282.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the top right side of the machine", "B.close the flask", "C.put the bottle on the tray", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0002283", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the green cube into the bowl, B.put the egg inside the cup, C.push the small block to the specified position by grasping the large block, D.take the marker and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002283.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green cube into the bowl", "B.put the egg inside the cup", "C.push the small block to the specified position by grasping the large block", "D.take the marker and place it on the table" ] }, { "task_id": "0002284", "task": "TrajChoice", "id": "RH20T_cfg3_task_0033_user_0010_scene_0006_cfg_0003_104122062823#318", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the black cable in the storage box at the back, B.take the blue building block to the table, C.push the small block to the specified position by grasping the large block, D.push the drawer handle to close the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002284.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black cable in the storage box at the back", "B.take the blue building block to the table", "C.push the small block to the specified position by grasping the large block", "D.push the drawer handle to close the drawer" ] }, { "task_id": "0002285", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.moving an object from the plate to the table, B.pour the contents from the clear jar into a bowl, C.cover the pot and move it to the right, D.slide the outer casing onto the gift box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002285.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving an object from the plate to the table", "B.pour the contents from the clear jar into a bowl", "C.cover the pot and move it to the right", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0002286", "task": "TrajChoice", "id": "RH20T_cfg1_task_0014_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the hat on the side table, B.put the object into the black bowl, C.close the notebook, D.remove the object from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002286.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the hat on the side table", "B.put the object into the black bowl", "C.close the notebook", "D.remove the object from the scale" ] }, { "task_id": "0002287", "task": "TrajChoice", "id": "RH20T_cfg1_task_0070_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open a sliding window, B.put the pineapple toy into the black bowl, put the banana toy into the basket, C.pull out a napkin, D.push the top drawer of the left cabinet shut] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002287.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.put the pineapple toy into the black bowl, put the banana toy into the basket", "C.pull out a napkin", "D.push the top drawer of the left cabinet shut" ] }, { "task_id": "0002288", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0004_cfg_0003_104122062823#310", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the silver lid on the silver bottle, B.put the things in the drawer, C.pick up the marker and put it in the bowl, D.put the knife on the cutting board], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002288.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver lid on the silver bottle", "B.put the things in the drawer", "C.pick up the marker and put it in the bowl", "D.put the knife on the cutting board" ] }, { "task_id": "0002289", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the keyboard using a napkin, B.unhang the white cloth from the black stand and put it on the table, C.grasp a small block to sweep the other small block into the designated position, D.open a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002289.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the keyboard using a napkin", "B.unhang the white cloth from the black stand and put it on the table", "C.grasp a small block to sweep the other small block into the designated position", "D.open a sliding window" ] }, { "task_id": "0002290", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0009_cfg_0004_104122062823#165", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button on the remote control, B.grasp a small block to sweep the other small block into the designated position, C.pull the zipper to the left side, D.place the paper cup on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002290.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the remote control", "B.grasp a small block to sweep the other small block into the designated position", "C.pull the zipper to the left side", "D.place the paper cup on the table" ] }, { "task_id": "0002291", "task": "TrajChoice", "id": "RH20T_cfg7_task_0066_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button horizontally, B.pour the items from the box onto the table, C.use the gripper to push and close the drawer, D.build with large Megabloks for the nth time with n blocks], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002291.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.pour the items from the box onto the table", "C.use the gripper to push and close the drawer", "D.build with large Megabloks for the nth time with n blocks" ] }, { "task_id": "0002292", "task": "TrajChoice", "id": "RH20T_cfg7_task_0066_user_0014_scene_0002_cfg_0007_104122064161#154", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the marker and put it in the bowl, B.press the button on the coffee machine, C.build with large Megabloks for the nth time with n blocks, D.uncover the pot and put the lid on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002292.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the bowl", "B.press the button on the coffee machine", "C.build with large Megabloks for the nth time with n blocks", "D.uncover the pot and put the lid on the table" ] }, { "task_id": "0002294", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.close a sliding window, B.hang the orange towel on the black rod, C.place the pen to the left of the transparent bowl on the right, D.move the yellow object to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002294.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.hang the orange towel on the black rod", "C.place the pen to the left of the transparent bowl on the right", "D.move the yellow object to the left" ] }, { "task_id": "0002295", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the water dispenser button, B.open the microwave door, C.remove the object from the scale, D.pour the coffee into the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002295.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the water dispenser button", "B.open the microwave door", "C.remove the object from the scale", "D.pour the coffee into the cup" ] }, { "task_id": "0002296", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the green object on the white object, B.grab the block and place it at the designated location, C.pick up the cup, D.move the clear bottle to the left side of the sink], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002296.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green object on the white object", "B.grab the block and place it at the designated location", "C.pick up the cup", "D.move the clear bottle to the left side of the sink" ] }, { "task_id": "0002297", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the clip in the green cup, B.put the object next to the racket on the racket, then pick up the racket and pour the object into the black bucket, C.place the handset of the telephone on the corresponding phone cradle, D.pick up the blue cloth and put it on the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002297.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clip in the green cup", "B.put the object next to the racket on the racket, then pick up the racket and pour the object into the black bucket", "C.place the handset of the telephone on the corresponding phone cradle", "D.pick up the blue cloth and put it on the chair" ] }, { "task_id": "0002298", "task": "TrajChoice", "id": "RH20T_cfg4_task_0209_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the flower pot to the left, B.zip up the jacket, C.pick up the pen from the cup and put it on the tabletop, D.slice the carrots] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002298.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the flower pot to the left", "B.zip up the jacket", "C.pick up the pen from the cup and put it on the tabletop", "D.slice the carrots" ] }, { "task_id": "0002299", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0017_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.drop a coin into a piggy bank, B.put the triangle into the bag, C.pour the water from one cup into another empty cup, D.pick up the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002299.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.put the triangle into the bag", "C.pour the water from one cup into another empty cup", "D.pick up the cup" ] }, { "task_id": "0002300", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the bottom drawer of the white file cabinet, B.insert the pencil into the pencil sharpener, C.move the marker to the right, D.pick up the pen from the table and put it in a light blue cup] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002300.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the white file cabinet", "B.insert the pencil into the pencil sharpener", "C.move the marker to the right", "D.pick up the pen from the table and put it in a light blue cup" ] }, { "task_id": "0002301", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.hit the pool ball, B.pick up the blue object from the right side of the table and put it on the left, C.place the sponge in the bowl, D.put the bottle on the first layer of the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002301.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.pick up the blue object from the right side of the table and put it on the left", "C.place the sponge in the bowl", "D.put the bottle on the first layer of the shelf" ] }, { "task_id": "0002302", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the door of the cabinet, B.place the handset of the telephone on the corresponding phone cradle, C.turn on the air fryer, D.take the cup off the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002302.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the door of the cabinet", "B.place the handset of the telephone on the corresponding phone cradle", "C.turn on the air fryer", "D.take the cup off the cup rack" ] }, { "task_id": "0002303", "task": "TrajChoice", "id": "RH20T_cfg4_task_0210_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the red object from the middle of the stove and put it on the back left plate, B.move the bowl to the left on the table, C.chop the onions, D.reposition the duct tape], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002303.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the red object from the middle of the stove and put it on the back left plate", "B.move the bowl to the left on the table", "C.chop the onions", "D.reposition the duct tape" ] }, { "task_id": "0002304", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open a box, B.unfold the white towel, C.move the towel to the left, D.assemble one piece of a puzzle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002304.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.unfold the white towel", "C.move the towel to the left", "D.assemble one piece of a puzzle" ] }, { "task_id": "0002305", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.hit the pool ball, B.remove the bowl from the open drawer and place it on the countertop, C.pour some of the contents of the jug into the red bowl, D.pull the mug towards the middle of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002305.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the bowl from the open drawer and place it on the countertop", "C.pour some of the contents of the jug into the red bowl", "D.pull the mug towards the middle of the table" ] }, { "task_id": "0002306", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the cloth and put it in the box, B.grab the block on the table, C.pick up the towel, sweep the objects on the table to the left and put the towel in the container, D.pick up the orange tool and put it in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002306.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth and put it in the box", "B.grab the block on the table", "C.pick up the towel, sweep the objects on the table to the left and put the towel in the container", "D.pick up the orange tool and put it in the bowl" ] }, { "task_id": "0002307", "task": "TrajChoice", "id": "RH20T_cfg1_task_0119_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the water tap, B.take the green ball out of the box and throw it on the black plate, C.place the pen on the left side of the table, D.open the door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002307.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.take the green ball out of the box and throw it on the black plate", "C.place the pen on the left side of the table", "D.open the door" ] }, { "task_id": "0002308", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.rotate the second button from the right of the microwave clockwise, B.place the block on the scale, C.drag the plate to the goal post after holding it down, D.put the thing in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002308.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the second button from the right of the microwave clockwise", "B.place the block on the scale", "C.drag the plate to the goal post after holding it down", "D.put the thing in the bowl" ] }, { "task_id": "0002309", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.folding a towel, B.take out the light bulb by rotating it, C.take the black marker out of the bucket, D.put the blue towel on the left armrest], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002309.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a towel", "B.take out the light bulb by rotating it", "C.take the black marker out of the bucket", "D.put the blue towel on the left armrest" ] }, { "task_id": "0002310", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.folding a towel on the bed, B.put the pen into the pen holder, C.cover the coffee machine, put the plate on the coffee machine, D.put the object in the designated position] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002310.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a towel on the bed", "B.put the pen into the pen holder", "C.cover the coffee machine, put the plate on the coffee machine", "D.put the object in the designated position" ] }, { "task_id": "0002311", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the microwave door, B.place the block on the scale, C.put the orange cup inside the black bowl, D.remove the black t-shirt from the backrest of the chair and put it on the round table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002311.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.place the block on the scale", "C.put the orange cup inside the black bowl", "D.remove the black t-shirt from the backrest of the chair and put it on the round table" ] }, { "task_id": "0002312", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the transparent box towards the edge of the table, B.place the iron vertically on the bed, C.put the glass cup onto the shelf, D.close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002312.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the transparent box towards the edge of the table", "B.place the iron vertically on the bed", "C.put the glass cup onto the shelf", "D.close the drawer" ] }, { "task_id": "0002313", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.plug in the bulb holder to the socket, B.clean the table with a cloth, C.pick the bottle on the table and put it in the pot, D.put the object in the white bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002313.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.clean the table with a cloth", "C.pick the bottle on the table and put it in the pot", "D.put the object in the white bowl" ] }, { "task_id": "0002314", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the photo frame on the bracket, B.folding towels, C.put the elastic in the bottle, D.put the cloth on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002314.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the photo frame on the bracket", "B.folding towels", "C.put the elastic in the bottle", "D.put the cloth on the table" ] }, { "task_id": "0002315", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.counterclockwise rotation of the seat, B.press on the bottle, C.push the drawer to close it, D.move the towel to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002315.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.counterclockwise rotation of the seat", "B.press on the bottle", "C.push the drawer to close it", "D.move the towel to the left" ] }, { "task_id": "0002316", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the spoon from the bowl to the object, B.take the photo frame down from the bracket, C.push the chair forward, D.slide the cup lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002316.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the spoon from the bowl to the object", "B.take the photo frame down from the bracket", "C.push the chair forward", "D.slide the cup lid" ] }, { "task_id": "0002317", "task": "TrajChoice", "id": "RH20T_cfg5_task_0078_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the light, B.close the microwave door, C.place the fanta can to the left of the sink, D.remove the lid from the bottle and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002317.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light", "B.close the microwave door", "C.place the fanta can to the left of the sink", "D.remove the lid from the bottle and put it on the table" ] }, { "task_id": "0002318", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the soccer ball into the goal, B.place the orange cup inside the blue cup, C.put the shirts inside the box, D.put the mouse pad flat] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002318.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.place the orange cup inside the blue cup", "C.put the shirts inside the box", "D.put the mouse pad flat" ] }, { "task_id": "0002319", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.move the calculator to the bowl, C.place the toy on the table, D.hang the cloth on the object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002319.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.move the calculator to the bowl", "C.place the toy on the table", "D.hang the cloth on the object" ] }, { "task_id": "0002320", "task": "TrajChoice", "id": "RH20T_cfg2_task_0127_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the bottle into the box, B.pour the contents of the clear jug into the bowl, C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, D.pick up the bottle from the table and put it in the lower compartment of the tray] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002320.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the box", "B.pour the contents of the clear jug into the bowl", "C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "D.pick up the bottle from the table and put it in the lower compartment of the tray" ] }, { "task_id": "0002321", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the white bottle on the table, B.place the black marker in the white bowl, C.water the plant, D.spread a white cloth on the pillow] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002321.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the white bottle on the table", "B.place the black marker in the white bowl", "C.water the plant", "D.spread a white cloth on the pillow" ] }, { "task_id": "0002322", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the cup and put it on the table, B.open the laptop and switch it on, C.take the lid off the bottle and put it on the table, D.remove the object from the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002322.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup and put it on the table", "B.open the laptop and switch it on", "C.take the lid off the bottle and put it on the table", "D.remove the object from the scale" ] }, { "task_id": "0002323", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the marker out of the cup, B.put the garbage in the trash can and close the lid of the trash can, C.move the black cloth from the brown couch to the black chair then move the blue cloth from the black chair to the brown couch, D.put the metal object with the orange handle in the blue cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002323.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup", "B.put the garbage in the trash can and close the lid of the trash can", "C.move the black cloth from the brown couch to the black chair then move the blue cloth from the black chair to the brown couch", "D.put the metal object with the orange handle in the blue cup" ] }, { "task_id": "0002324", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0005_cfg_0004_104122062823#269", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bubble ring from the assembled bubble ring and ball, B.put the garbage in the trash can and close the lid of the trash can, C.put the black screwdriver inside the open drawer then close the drawer, D.move the colorless bottle], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002324.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.put the garbage in the trash can and close the lid of the trash can", "C.put the black screwdriver inside the open drawer then close the drawer", "D.move the colorless bottle" ] }, { "task_id": "0002325", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the bubble ring from the assembled bubble ring and ball, B.push the white object, C.press on the top left side of the rice cooker, D.put the green marker inside the yellow bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002325.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.push the white object", "C.press on the top left side of the rice cooker", "D.put the green marker inside the yellow bowl" ] }, { "task_id": "0002327", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the hands of a clock, B.wiping a towel in the sink, C.wipe the table with the yellow towel, D.press the first switch to the right of the power socket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002327.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.wiping a towel in the sink", "C.wipe the table with the yellow towel", "D.press the first switch to the right of the power socket" ] }, { "task_id": "0002328", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use the spoon to take some coffee from the pod on the left and place it in the white bowl then set the spoon down on the right side of the counter, B.take the roll of paper down from the shelf, C.move the napkin on the plate to the right, D.put the lid on the bottle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002328.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the spoon to take some coffee from the pod on the left and place it in the white bowl then set the spoon down on the right side of the counter", "B.take the roll of paper down from the shelf", "C.move the napkin on the plate to the right", "D.put the lid on the bottle" ] }, { "task_id": "0002329", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0014_scene_0008_cfg_0001_819112070044#157", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object to the specified location, B.take the bottle out of the tray and put it on the counter, C.put things in the drawer, push the drawer door to the closed position, D.put the bagged snacks into the transparent bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002329.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the specified location", "B.take the bottle out of the tray and put it on the counter", "C.put things in the drawer, push the drawer door to the closed position", "D.put the bagged snacks into the transparent bowl" ] }, { "task_id": "0002330", "task": "TrajChoice", "id": "RH20T_cfg7_task_0002_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the stapler to the right, B.pull out a napkin, C.press the first button on top, D.grasp the moving toy], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002330.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the stapler to the right", "B.pull out a napkin", "C.press the first button on top", "D.grasp the moving toy" ] }, { "task_id": "0002331", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the lid of the coffee maker, B.put the object into the plate, C.move an object from one box to another, D.open the ajar drawer fully] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002331.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid of the coffee maker", "B.put the object into the plate", "C.move an object from one box to another", "D.open the ajar drawer fully" ] }, { "task_id": "0002332", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.clean the table with a cloth, B.take the roll of paper down from the shelf, C.pressing the piano keyboard on the piano, D.place the lid on the pot] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002332.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.take the roll of paper down from the shelf", "C.pressing the piano keyboard on the piano", "D.place the lid on the pot" ] }, { "task_id": "0002333", "task": "TrajChoice", "id": "RH20T_cfg6_task_0132_user_0020_scene_0005_cfg_0006_104122064161#435", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the small object from the wooden tray and put it on the couch, B.move the blue cloth from the top left drawer to the top right drawer then put it back in the top right drawer, C.stack the blocks into a cross shape, D.remove the masking tape from the second shelf to the first shelf of the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002333.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small object from the wooden tray and put it on the couch", "B.move the blue cloth from the top left drawer to the top right drawer then put it back in the top right drawer", "C.stack the blocks into a cross shape", "D.remove the masking tape from the second shelf to the first shelf of the cabinet" ] }, { "task_id": "0002334", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the mug and put it on the table, B.close the soap bottle, C.pick up the green toy from the sink and put it on the stove, D.put the pen into the pen holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002334.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the table", "B.close the soap bottle", "C.pick up the green toy from the sink and put it on the stove", "D.put the pen into the pen holder" ] }, { "task_id": "0002335", "task": "TrajChoice", "id": "RH20T_cfg6_task_0078_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the microwave door, B.move the cup to the left, C.pick up the screwdriver, place it in the top drawer then close the drawer, D.remove the crayon box from the drawer, move it to the left, and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002335.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.move the cup to the left", "C.pick up the screwdriver, place it in the top drawer then close the drawer", "D.remove the crayon box from the drawer, move it to the left, and close the drawer" ] }, { "task_id": "0002336", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the cup upside down on the plate, B.grasp the handle and close the drawer, C.move a sweet to the left, D.put the yellow block in the silver bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002336.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the cup upside down on the plate", "B.grasp the handle and close the drawer", "C.move a sweet to the left", "D.put the yellow block in the silver bowl" ] }, { "task_id": "0002337", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the orange cup in the black bowl, B.push the basketball between the two cups, C.press the button, D.remove the white bag from the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002337.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup in the black bowl", "B.push the basketball between the two cups", "C.press the button", "D.remove the white bag from the box" ] }, { "task_id": "0002338", "task": "TrajChoice", "id": "RH20T_cfg5_task_0033_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the lid on the pot, B.remove the brown sponge from the sink and move it to the right side of the table, C.grasp a small block to sweep the other small block into the designated position, D.put a slice of bread in the toaster, then push the toaster lever down], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002338.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.remove the brown sponge from the sink and move it to the right side of the table", "C.grasp a small block to sweep the other small block into the designated position", "D.put a slice of bread in the toaster, then push the toaster lever down" ] }, { "task_id": "0002339", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the machine button, B.close the drawer, C.put the towel on top of the colourless screen, D.place the bottle in the first layer of the storage basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002339.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the machine button", "B.close the drawer", "C.put the towel on top of the colourless screen", "D.place the bottle in the first layer of the storage basket" ] }, { "task_id": "0002340", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the wall light switch horizontally, B.move the gray doll to the left back corner, C.turn on the power strip by pressing the switch, D.take the knife to the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002340.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the wall light switch horizontally", "B.move the gray doll to the left back corner", "C.turn on the power strip by pressing the switch", "D.take the knife to the table" ] }, { "task_id": "0002341", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the plate in the microwave, B.take the scraper off the shelf and put it on the table, C.put the white object into the silver pot, D.put the things in the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002341.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate in the microwave", "B.take the scraper off the shelf and put it on the table", "C.put the white object into the silver pot", "D.put the things in the drawer" ] }, { "task_id": "0002342", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0010_cfg_0004_104122062823#266", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the things in the drawer, B.put the brown block in the blue bowl, C.place the water bottle upside down on the table, D.press the water dispenser button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002342.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.put the brown block in the blue bowl", "C.place the water bottle upside down on the table", "D.press the water dispenser button" ] }, { "task_id": "0002343", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the bottle and put it in the bowl, B.place the two spoons in the bowl, C.play jenga, D.use the gripper to push and close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002343.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle and put it in the bowl", "B.place the two spoons in the bowl", "C.play jenga", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0002344", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the bread machine button, B.sliding the towel on the table, folding the towel, C.move the knife from the table to the knife rack, D.cover the pot with the silver lid], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002344.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the bread machine button", "B.sliding the towel on the table, folding the towel", "C.move the knife from the table to the knife rack", "D.cover the pot with the silver lid" ] }, { "task_id": "0002345", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the small bowl on the table to the left side of the table, put the bowl into the bowl, B.take out a red Hanoi block from the shelf and place it on the table, C.put the brown sponge in the bowl, D.press a button on the black device] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002345.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small bowl on the table to the left side of the table, put the bowl into the bowl", "B.take out a red Hanoi block from the shelf and place it on the table", "C.put the brown sponge in the bowl", "D.press a button on the black device" ] }, { "task_id": "0002346", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the knife on the cutting board, B.press a button from top to bottom with obstacles, C.take the desk lamp from the desktop and place it in the upper right corner of the table, D.put the red can in the left sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002346.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.press a button from top to bottom with obstacles", "C.take the desk lamp from the desktop and place it in the upper right corner of the table", "D.put the red can in the left sink" ] }, { "task_id": "0002347", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0002_scene_0001_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the desk lamp by pressing the button, B.put the cup on the cup rack, C.take the pot to the right side of the table, D.push the small block's side] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002347.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.put the cup on the cup rack", "C.take the pot to the right side of the table", "D.push the small block's side" ] }, { "task_id": "0002348", "task": "TrajChoice", "id": "RH20T_cfg1_task_0070_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the lid from the silver pot, B.open a sliding window, C.move the yellow block from the table to the cup, D.pull the plastic box to the bottom right corner of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002348.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the silver pot", "B.open a sliding window", "C.move the yellow block from the table to the cup", "D.pull the plastic box to the bottom right corner of the table" ] }, { "task_id": "0002349", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the machine cover, B.move an object from one box to another, C.close the top drawer, D.use the right white towel to wipe the pan], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002349.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the machine cover", "B.move an object from one box to another", "C.close the top drawer", "D.use the right white towel to wipe the pan" ] }, { "task_id": "0002350", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.build with small Lego blocks in the correct position, B.move the black bottle from the third shelf counting from the top to the stove, C.take the cover off the bottle, D.place the brush on the pen rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002350.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with small Lego blocks in the correct position", "B.move the black bottle from the third shelf counting from the top to the stove", "C.take the cover off the bottle", "D.place the brush on the pen rack" ] }, { "task_id": "0002351", "task": "TrajChoice", "id": "RH20T_cfg1_task_0022_user_0001_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wave the flag, B.put the blue object inside the drawer then close the drawer, C.put the white object in the blue purse, D.put the green bag from the glass bowl into another glass bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002351.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.put the blue object inside the drawer then close the drawer", "C.put the white object in the blue purse", "D.put the green bag from the glass bowl into another glass bowl" ] }, { "task_id": "0002352", "task": "TrajChoice", "id": "RH20T_cfg1_task_0001_user_0004_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button from top to bottom, B.put the yellow block in the blue cup, C.move the bottle to the left side of the table, D.pick up the plastic bowl and pour its contents into the white pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002352.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.put the yellow block in the blue cup", "C.move the bottle to the left side of the table", "D.pick up the plastic bowl and pour its contents into the white pot" ] }, { "task_id": "0002353", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.water the plant, B.press the last button on the white machine, C.pick up the corn and put it in the pot, D.put the bowl on the lower stove], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002353.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.press the last button on the white machine", "C.pick up the corn and put it in the pot", "D.put the bowl on the lower stove" ] }, { "task_id": "0002354", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the green tennis ball from the cup to the table, B.wipe the table with the cloth, C.pick up a bag of things, D.turn the thin paper box clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002354.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green tennis ball from the cup to the table", "B.wipe the table with the cloth", "C.pick up a bag of things", "D.turn the thin paper box clockwise" ] }, { "task_id": "0002355", "task": "TrajChoice", "id": "RH20T_cfg4_task_0213_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.chop the orange, B.put the lid of the cup on the table, C.close the open door, D.place the screwdriver on the tray], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002355.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the orange", "B.put the lid of the cup on the table", "C.close the open door", "D.place the screwdriver on the tray" ] }, { "task_id": "0002356", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the cloth and put it in the box, B.remove the cloth from the wooden object, C.take something out of a drawer, D.transfer the remote control to the armrest of the sofa] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002356.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth and put it in the box", "B.remove the cloth from the wooden object", "C.take something out of a drawer", "D.transfer the remote control to the armrest of the sofa" ] }, { "task_id": "0002357", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0015_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the sneakers forwards, B.drop a coin into a piggy bank, C.scrubbing the table with a brush, D.drag the plate back after holding it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002357.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the sneakers forwards", "B.drop a coin into a piggy bank", "C.scrubbing the table with a brush", "D.drag the plate back after holding it down" ] }, { "task_id": "0002358", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bowl on the shelf, B.put the yellow cable in the gray box, C.put the marker in the cup, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002358.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl on the shelf", "B.put the yellow cable in the gray box", "C.put the marker in the cup", "D.play the drum" ] }, { "task_id": "0002359", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the cup on the cup rack, B.put the silver marker into the silver pot, C.move the black cloth to the left, D.unfold the leg of the glasses (with one hand)] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002359.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the silver marker into the silver pot", "C.move the black cloth to the left", "D.unfold the leg of the glasses (with one hand)" ] }, { "task_id": "0002360", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasp the handle and close the drawer, B.stirring the green mixing stick in the bowl clockwise, C.put the white object into the bag, D.put the green object on the first shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002360.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.stirring the green mixing stick in the bowl clockwise", "C.put the white object into the bag", "D.put the green object on the first shelf" ] }, { "task_id": "0002361", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the spoon and put it on the white paper where there's a remote, B.transfer the notebook from the pot to the table, C.open the drawer, D.approach and touch the side of the small block] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002361.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the spoon and put it on the white paper where there's a remote", "B.transfer the notebook from the pot to the table", "C.open the drawer", "D.approach and touch the side of the small block" ] }, { "task_id": "0002362", "task": "TrajChoice", "id": "RH20T_cfg7_task_0018_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the block from the middle of the block tower to the table, B.put the yellow cable in the box, C.pressing an object on the tissue, D.put the marker in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002362.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the block from the middle of the block tower to the table", "B.put the yellow cable in the box", "C.pressing an object on the tissue", "D.put the marker in the cup" ] }, { "task_id": "0002363", "task": "TrajChoice", "id": "RH20T_cfg7_task_0045_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.throw the piece of paper into the drawer, B.open the cabinet door, C.put the object from the small pot onto the table, D.place the brush on the pen rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002363.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the piece of paper into the drawer", "B.open the cabinet door", "C.put the object from the small pot onto the table", "D.place the brush on the pen rack" ] }, { "task_id": "0002364", "task": "TrajChoice", "id": "RH20T_cfg4_task_0029_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the white towel on the left and use it to wipe the black frying pan, B.grasp the handle and open the drawer, C.turn on the extension cord, D.put the marker in the white cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002364.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white towel on the left and use it to wipe the black frying pan", "B.grasp the handle and open the drawer", "C.turn on the extension cord", "D.put the marker in the white cup" ] }, { "task_id": "0002367", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open a box, B.close the open drawer, C.pick up the orange block from the desktop and place it on top of the gray block on the left, D.moving the bowl from the left side of the table to the right side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002367.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.close the open drawer", "C.pick up the orange block from the desktop and place it on top of the gray block on the left", "D.moving the bowl from the left side of the table to the right side of the table" ] }, { "task_id": "0002368", "task": "TrajChoice", "id": "RH20T_cfg4_task_0045_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.clean the pan, B.place the brush on the pen rack, C.put the marker inside the bowl, D.press the switch on the wall to turn off the light], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002368.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the pan", "B.place the brush on the pen rack", "C.put the marker inside the bowl", "D.press the switch on the wall to turn off the light" ] }, { "task_id": "0002369", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the shoe and put it on top of the book, B.scoop the large spoon from the white bowl to the red bowl, C.take the pen out of the box and place it on the table, D.pulling the brown clothing to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002369.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the shoe and put it on top of the book", "B.scoop the large spoon from the white bowl to the red bowl", "C.take the pen out of the box and place it on the table", "D.pulling the brown clothing to the left" ] }, { "task_id": "0002370", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.moving the green bag from the right side of the table to the first layer of the shelf on the left side of the table, counting from the bottom up, B.open a box, C.open the book, D.take the note from the plate to the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002370.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the green bag from the right side of the table to the first layer of the shelf on the left side of the table, counting from the bottom up", "B.open a box", "C.open the book", "D.take the note from the plate to the table" ] }, { "task_id": "0002371", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.fold the sweatshirt from bottom to top, B.put the cup in the bowl, C.press the switch on the wall, D.holding a small block with the gripper and sweeping it from left to right on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002371.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the sweatshirt from bottom to top", "B.put the cup in the bowl", "C.press the switch on the wall", "D.holding a small block with the gripper and sweeping it from left to right on the table" ] }, { "task_id": "0002372", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0008_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the yellow object from the couch to the box, B.put the pen in the transparent cup, C.take the pen out of the cup and put it on the table, D.pick up the small block on the left and move it to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002372.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the yellow object from the couch to the box", "B.put the pen in the transparent cup", "C.take the pen out of the cup and put it on the table", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0002373", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the cup and move it to the left on the table, B.pour the contents of the kettle into the right cup, C.clean the tabletop with a sponge, D.move the brown pillow] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002373.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup and move it to the left on the table", "B.pour the contents of the kettle into the right cup", "C.clean the tabletop with a sponge", "D.move the brown pillow" ] }, { "task_id": "0002374", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the spoon on the counter, B.put the cup into the bowl, C.open a box, D.put the plate on the window sill], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002374.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the counter", "B.put the cup into the bowl", "C.open a box", "D.put the plate on the window sill" ] }, { "task_id": "0002375", "task": "TrajChoice", "id": "RH20T_cfg5_task_0021_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put an orange ring on the base, B.moving the cup from the left side of the table to the right side, C.turn off the desk lamp by pressing the button, D.use the green sponge to scrub the white ceramic bowl on the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002375.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put an orange ring on the base", "B.moving the cup from the left side of the table to the right side", "C.turn off the desk lamp by pressing the button", "D.use the green sponge to scrub the white ceramic bowl on the left" ] }, { "task_id": "0002376", "task": "TrajChoice", "id": "RH20T_cfg5_task_0049_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.rotate the steering wheel counterclockwise, B.turn off the desk lamp by pressing the button, C.drag the plate to the goal post after holding it down, D.pour the contents of the orange cup onto the oven tray] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002376.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel counterclockwise", "B.turn off the desk lamp by pressing the button", "C.drag the plate to the goal post after holding it down", "D.pour the contents of the orange cup onto the oven tray" ] }, { "task_id": "0002377", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the object to the right side of the table, B.remove the silver lid from the silver pot and put it in the bowl, C.put the orange packet on the second shelf of the open cabinet, D.open a sliding window] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002377.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the object to the right side of the table", "B.remove the silver lid from the silver pot and put it in the bowl", "C.put the orange packet on the second shelf of the open cabinet", "D.open a sliding window" ] }, { "task_id": "0002378", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the grey bowl onto the other bowl, B.put the block into the bowl, C.move the spoon to the green bowl, D.pull the plate under the goal out of the goal] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002378.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the grey bowl onto the other bowl", "B.put the block into the bowl", "C.move the spoon to the green bowl", "D.pull the plate under the goal out of the goal" ] }, { "task_id": "0002379", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the white object and put it in the bowl, B.close the bottom drawer of the left file cabinet, C.water the plant, D.stack the orange objects], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002379.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white object and put it in the bowl", "B.close the bottom drawer of the left file cabinet", "C.water the plant", "D.stack the orange objects" ] }, { "task_id": "0002380", "task": "TrajChoice", "id": "RH20T_cfg6_task_0021_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drag the plate to the goal post after holding it down, B.turn off the desk lamp by pressing the button, C.remove the rope from the platform and place it on the table, D.take the marker from the bowl and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002380.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.turn off the desk lamp by pressing the button", "C.remove the rope from the platform and place it on the table", "D.take the marker from the bowl and put it on the table" ] }, { "task_id": "0002381", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the marker on the table, B.pour the coffee beans from the white plate on the desk into the coffee machine, C.place the ring onto the cylinder, D.approach and touch the side of the small block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002381.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the table", "B.pour the coffee beans from the white plate on the desk into the coffee machine", "C.place the ring onto the cylinder", "D.approach and touch the side of the small block" ] }, { "task_id": "0002382", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open a box, B.put the screwdriver in the cup, C.put the pen in the glass bowl, D.put the red marker inside the yellow mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002382.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.put the screwdriver in the cup", "C.put the pen in the glass bowl", "D.put the red marker inside the yellow mug" ] }, { "task_id": "0002383", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.stacking blocks, B.move the ring from the cylinder to the tabletop, C.put the toilet paper on its holder, D.move the object from the plate to the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002383.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks", "B.move the ring from the cylinder to the tabletop", "C.put the toilet paper on its holder", "D.move the object from the plate to the bowl" ] }, { "task_id": "0002384", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0003_scene_0002_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.push an object with obstacles, C.put the pen in the cup, D.put the spoon in the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002384.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.push an object with obstacles", "C.put the pen in the cup", "D.put the spoon in the pot" ] }, { "task_id": "0002385", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open a box, B.turn on the desk lamp by pressing the button, C.pick up a bag of things, D.place the toothbrush in the silver cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002385.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.turn on the desk lamp by pressing the button", "C.pick up a bag of things", "D.place the toothbrush in the silver cup" ] }, { "task_id": "0002386", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the teabag in the mug, B.twist the flusk, C.push the open drawer closed, D.push the block forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002386.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the teabag in the mug", "B.twist the flusk", "C.push the open drawer closed", "D.push the block forward" ] }, { "task_id": "0002387", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0003_scene_0004_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take out a Hanoi block and throw it aside, B.put the black marker into the silver basin, C.pick up the small bottle from the table and move it forward, D.put the jumper on the armchair seat], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002387.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.put the black marker into the silver basin", "C.pick up the small bottle from the table and move it forward", "D.put the jumper on the armchair seat" ] }, { "task_id": "0002388", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the computer into the bowl on the left side of the table, B.straighten the jeans across the couch, C.clean the tabletop with a sponge, D.put the white object inside the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002388.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the computer into the bowl on the left side of the table", "B.straighten the jeans across the couch", "C.clean the tabletop with a sponge", "D.put the white object inside the pot" ] }, { "task_id": "0002389", "task": "TrajChoice", "id": "RH20T_cfg6_task_0026_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use the gripper to push and close the drawer, B.close the drinking hole, C.put the marker in the cup, D.push the picture frame on the wall to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002389.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.close the drinking hole", "C.put the marker in the cup", "D.push the picture frame on the wall to the left" ] }, { "task_id": "0002390", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick the marker from the cup and put it on the table, B.move the large Lego blocks from the table to the base plate, C.take the blue travel mug from the plate rack and place it on the edge of the sink, D.pick up the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002390.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the marker from the cup and put it on the table", "B.move the large Lego blocks from the table to the base plate", "C.take the blue travel mug from the plate rack and place it on the edge of the sink", "D.pick up the cup" ] }, { "task_id": "0002391", "task": "TrajChoice", "id": "RH20T_cfg6_task_0066_user_0007_scene_0002_cfg_0006_104122063633#354", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the large Lego blocks from the table to the base plate, B.uncover the pot, C.pull up the lever, D.hang the gray masking tape on the stand] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002391.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the large Lego blocks from the table to the base plate", "B.uncover the pot", "C.pull up the lever", "D.hang the gray masking tape on the stand" ] }, { "task_id": "0002392", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the orange cup inside the black bowl, B.push down the lever, C.move the cup to the edge of the table, D.unscrewing the lid from the jar], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002392.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup inside the black bowl", "B.push down the lever", "C.move the cup to the edge of the table", "D.unscrewing the lid from the jar" ] }, { "task_id": "0002393", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the green cylinder to the right side of the table, B.remove the marker from the mug and place it on the seat, C.move the square in the upper right corner of the cardboard to the target position on the cardboard, D.pull up the lid of the black box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002393.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green cylinder to the right side of the table", "B.remove the marker from the mug and place it on the seat", "C.move the square in the upper right corner of the cardboard to the target position on the cardboard", "D.pull up the lid of the black box" ] }, { "task_id": "0002394", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the blue marker from the yellow mug, B.push the soccer ball into the goal, C.take the cloth and put it on the shoulder of the couch, D.pick up the cup from the stacked cups and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002394.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the blue marker from the yellow mug", "B.push the soccer ball into the goal", "C.take the cloth and put it on the shoulder of the couch", "D.pick up the cup from the stacked cups and put it on the table" ] }, { "task_id": "0002395", "task": "TrajChoice", "id": "RH20T_cfg1_task_0016_user_0001_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.close the microwave door, B.put the green doll in the pot, C.hit the pool ball, D.pull the tray to the right and put the ring on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002395.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.put the green doll in the pot", "C.hit the pool ball", "D.pull the tray to the right and put the ring on the table" ] }, { "task_id": "0002396", "task": "TrajChoice", "id": "RH20T_cfg7_task_0063_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close the bottom drawer of the beige file cabinet, B.put the packaging bag into the microwave oven, C.pull the cabinet door to the open state, D.use a shovel to scoop up an object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002396.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the beige file cabinet", "B.put the packaging bag into the microwave oven", "C.pull the cabinet door to the open state", "D.use a shovel to scoop up an object" ] }, { "task_id": "0002397", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the lid and put it on the pot, B.push the plate into the goal, C.push the can, D.grasp the handle and open the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002397.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid and put it on the pot", "B.push the plate into the goal", "C.push the can", "D.grasp the handle and open the drawer" ] }, { "task_id": "0002398", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.screw the lid onto the jar, B.put the purple snack in the sink, C.take the dish off the dish rack, D.put the yellow pepper in the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002398.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.put the purple snack in the sink", "C.take the dish off the dish rack", "D.put the yellow pepper in the pot" ] }, { "task_id": "0002399", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the plate on the rack onto the white plate on the table, B.put the pen into the pen holder, C.get the black bowl from the table and stack it in the peach-colored bowl, D.turn the remote control clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002399.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the rack onto the white plate on the table", "B.put the pen into the pen holder", "C.get the black bowl from the table and stack it in the peach-colored bowl", "D.turn the remote control clockwise" ] }, { "task_id": "0002400", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the knob to decrease the volume of the speaker, B.move the toy to the front of the table, C.rotate the steering wheel 90 degrees counterclockwise, D.pull the left side door of the cabinet to the open position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002400.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.move the toy to the front of the table", "C.rotate the steering wheel 90 degrees counterclockwise", "D.pull the left side door of the cabinet to the open position" ] }, { "task_id": "0002401", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the ring on the table, B.put the yellow block in the cup, C.close a sliding window, D.push the soccer ball into the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002401.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the table", "B.put the yellow block in the cup", "C.close a sliding window", "D.push the soccer ball into the goal" ] }, { "task_id": "0002402", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cubes in the black bowl, B.put the ball into the bowl, C.remove a tissue square from the box and place it on the counter, D.press a button horizontally], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002402.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cubes in the black bowl", "B.put the ball into the bowl", "C.remove a tissue square from the box and place it on the counter", "D.press a button horizontally" ] }, { "task_id": "0002403", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the object from the counter and put it in the sink, B.put the bell pepper toy at the center of the table, C.push the soccer ball into the goal, D.move the white clothing from the chair seat to the chair back], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002403.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the object from the counter and put it in the sink", "B.put the bell pepper toy at the center of the table", "C.push the soccer ball into the goal", "D.move the white clothing from the chair seat to the chair back" ] }, { "task_id": "0002404", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup to the right, B.move the umbrella on the table, C.pick the black garment off the table and put it on the stand, D.turn the knob to decrease the volume of the speaker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002404.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right", "B.move the umbrella on the table", "C.pick the black garment off the table and put it on the stand", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0002405", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the hat to the left, B.put the lid on the machine on the table, C.remove the lid from the black pot, D.place the black chess piece on the chessboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002405.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the hat to the left", "B.put the lid on the machine on the table", "C.remove the lid from the black pot", "D.place the black chess piece on the chessboard" ] }, { "task_id": "0002406", "task": "TrajChoice", "id": "RH20T_cfg1_task_0011_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the green ball from the gray shelf onto the table, B.move the object from the center of the table to the left side of the table and put it down, C.water the plant, D.place the block on the left side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002406.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green ball from the gray shelf onto the table", "B.move the object from the center of the table to the left side of the table and put it down", "C.water the plant", "D.place the block on the left side of the table" ] }, { "task_id": "0002407", "task": "TrajChoice", "id": "RH20T_cfg2_task_0081_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wipe the table with the yellow towel, B.unfold the leg of the glasses (with one hand), C.pick up the pen and place it in the bowl, D.transfer the lid from the pot to the countertop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002407.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with the yellow towel", "B.unfold the leg of the glasses (with one hand)", "C.pick up the pen and place it in the bowl", "D.transfer the lid from the pot to the countertop" ] }, { "task_id": "0002408", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button on the water dispenser, B.move the marker from behind the mug to the front, C.close the drawer then put the pot lid on the table, D.water the plant], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002408.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the water dispenser", "B.move the marker from behind the mug to the front", "C.close the drawer then put the pot lid on the table", "D.water the plant" ] }, { "task_id": "0002409", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the desk lamp by pressing the button, B.put one snack from the blue packet on the white spoon, C.push down the lever of the toaster, D.put the key into the pen holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002409.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.put one snack from the blue packet on the white spoon", "C.push down the lever of the toaster", "D.put the key into the pen holder" ] }, { "task_id": "0002410", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn off the right light switch, B.place the marker inside the grey bowl, C.drag the plate back after holding it down, D.pick up the pen and put it in the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002410.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the right light switch", "B.place the marker inside the grey bowl", "C.drag the plate back after holding it down", "D.pick up the pen and put it in the cup" ] }, { "task_id": "0002411", "task": "TrajChoice", "id": "RH20T_cfg1_task_0209_user_0014_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open a sliding window, B.put the can in the sink, C.rotate the pillow clockwise and transfer the white cloth from the bed to the pillow, D.slice the carrots], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002411.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.put the can in the sink", "C.rotate the pillow clockwise and transfer the white cloth from the bed to the pillow", "D.slice the carrots" ] }, { "task_id": "0002412", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the pen on the table, B.take the medicine box out of the bowl and put it on the table, C.place the Hanoi block on the table, D.put the cup on the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002412.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the pen on the table", "B.take the medicine box out of the bowl and put it on the table", "C.place the Hanoi block on the table", "D.put the cup on the cup rack" ] }, { "task_id": "0002413", "task": "TrajChoice", "id": "RH20T_cfg5_task_0075_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the red bottle from the silver pan, B.push the faucet to the left, C.place the black pieces and the white pieces on the chessboard, D.move the blue block forward], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002413.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the red bottle from the silver pan", "B.push the faucet to the left", "C.place the black pieces and the white pieces on the chessboard", "D.move the blue block forward" ] }, { "task_id": "0002414", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pressing the piano keys on the piano, B.pick up the block from the desk and put it into the drawer, then close the drawer, C.take off the lid from the bowl and put it on the table, D.put the toy on the right side of the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002414.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the piano keys on the piano", "B.pick up the block from the desk and put it into the drawer, then close the drawer", "C.take off the lid from the bowl and put it on the table", "D.put the toy on the right side of the table" ] }, { "task_id": "0002415", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the marker from the mug and put it on the table, B.remove the object from the scale, C.place the green object next to the right side of the green bowl, D.take the roll of paper down from the shelf] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002415.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the table", "B.remove the object from the scale", "C.place the green object next to the right side of the green bowl", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0002416", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the block on the scale, B.move the black cup to the right, C.move the white cup from the left side of the desk to the right side of the desk, D.put the blue block into the open drawer and then close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002416.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.move the black cup to the right", "C.move the white cup from the left side of the desk to the right side of the desk", "D.put the blue block into the open drawer and then close the drawer" ] }, { "task_id": "0002417", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0006_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.unscrew the lid from the jar, B.press the button, C.cover the pot with the lid, D.put the things in the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002417.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.press the button", "C.cover the pot with the lid", "D.put the things in the drawer" ] }, { "task_id": "0002418", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0014_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button from top to bottom, B.move the brown cup to the right side of the table, C.pick the lid off the table and put it on the black pan, D.close the right cabinet door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002418.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.move the brown cup to the right side of the table", "C.pick the lid off the table and put it on the black pan", "D.close the right cabinet door" ] }, { "task_id": "0002419", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the yellow square inside the blue cup, B.put the plate on the left side of the table, C.take out the thing from the bag, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002419.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the yellow square inside the blue cup", "B.put the plate on the left side of the table", "C.take out the thing from the bag", "D.push the soccer ball into the goal" ] }, { "task_id": "0002420", "task": "TrajChoice", "id": "RH20T_cfg2_task_0011_user_0013_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.water the plant, B.the placement of the ring, C.counterclockwise rotating the electric kettle, D.press the button of the coffee machine] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002420.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.the placement of the ring", "C.counterclockwise rotating the electric kettle", "D.press the button of the coffee machine" ] }, { "task_id": "0002421", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasp a small block to sweep another small block into the designated position, B.remove the pen from the mug and put it on the table, C.place the toy at the specified position on the table, D.press the button from top to bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002421.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep another small block into the designated position", "B.remove the pen from the mug and put it on the table", "C.place the toy at the specified position on the table", "D.press the button from top to bottom" ] }, { "task_id": "0002422", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the knife on the knife rack, B.wiping the table, C.put the green block in the bowl, D.remove the object from the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002422.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.wiping the table", "C.put the green block in the bowl", "D.remove the object from the scale" ] }, { "task_id": "0002423", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the pot's lid to the counter on the left, B.take the bottle out of the mug and put it on the table, C.clean the table with a cloth, D.press the switch on the microwave] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002423.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pot's lid to the counter on the left", "B.take the bottle out of the mug and put it on the table", "C.clean the table with a cloth", "D.press the switch on the microwave" ] }, { "task_id": "0002424", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the spoon from the drawer, B.stack two plates and push, C.turn on the desk lamp by pressing the button, D.remove the plug from the sink drain] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002424.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the spoon from the drawer", "B.stack two plates and push", "C.turn on the desk lamp by pressing the button", "D.remove the plug from the sink drain" ] }, { "task_id": "0002425", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.draw a smiley face on the board with the green marker, and then put it back in the bowl, B.move the transparent container from the countertop to the sink, C.turn the knob to decrease the volume of the speaker, D.move the plate from the rack to the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002425.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.draw a smiley face on the board with the green marker, and then put it back in the bowl", "B.move the transparent container from the countertop to the sink", "C.turn the knob to decrease the volume of the speaker", "D.move the plate from the rack to the table" ] }, { "task_id": "0002426", "task": "TrajChoice", "id": "RH20T_cfg4_task_0024_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the grey towel to the right, B.water the plant, C.turn off the power strip by pressing the button, D.close the lid of the electric kettle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002426.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the grey towel to the right", "B.water the plant", "C.turn off the power strip by pressing the button", "D.close the lid of the electric kettle" ] }, { "task_id": "0002427", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the red ring on the pole, B.take the marker out of the bowl and put it on the table, C.wave the flag, D.place the block on the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002427.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red ring on the pole", "B.take the marker out of the bowl and put it on the table", "C.wave the flag", "D.place the block on the scale" ] }, { "task_id": "0002428", "task": "TrajChoice", "id": "RH20T_cfg1_task_0048_user_0014_scene_0001_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the green tape from the open drawer and place it on the countertop, B.push the cup to the left, C.rotate the steering wheel 90 degrees clockwise, D.pour some of the things in the jug into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002428.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green tape from the open drawer and place it on the countertop", "B.push the cup to the left", "C.rotate the steering wheel 90 degrees clockwise", "D.pour some of the things in the jug into the bowl" ] }, { "task_id": "0002429", "task": "TrajChoice", "id": "RH20T_cfg2_task_0005_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.approach and touch the side of the small block, B.put the thing in the sink, C.place a slice of bread from the glass bowl inside the toaster, D.remove the green plushie from the orange plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002429.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.put the thing in the sink", "C.place a slice of bread from the glass bowl inside the toaster", "D.remove the green plushie from the orange plate" ] }, { "task_id": "0002430", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the maroon cap to the left of the gray cup, B.place the block on the scale, C.take the dish off the dish rack, D.put the square on the wooden object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002430.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the maroon cap to the left of the gray cup", "B.place the block on the scale", "C.take the dish off the dish rack", "D.put the square on the wooden object" ] }, { "task_id": "0002431", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use a cloth to wipe the table, B.press the button on the machine, C.turn off the power strip by pressing the button, D.pull the clothes on the chair seat to the armrest of the sofa], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002431.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a cloth to wipe the table", "B.press the button on the machine", "C.turn off the power strip by pressing the button", "D.pull the clothes on the chair seat to the armrest of the sofa" ] }, { "task_id": "0002432", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the white cup to the designated position, B.remove the lid from the bottle and put it on the table, C.move the green rectangular block to the right side of the table, D.place the block on the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002432.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cup to the designated position", "B.remove the lid from the bottle and put it on the table", "C.move the green rectangular block to the right side of the table", "D.place the block on the scale" ] }, { "task_id": "0002433", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0014_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button on the upper right side of the washing machine, B.play the first move as black on the 3-4 point in the upper right corner of the Go board, C.remove the bubble ring from the assembled bubble ring and ball, D.close the open cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002433.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the upper right side of the washing machine", "B.play the first move as black on the 3-4 point in the upper right corner of the Go board", "C.remove the bubble ring from the assembled bubble ring and ball", "D.close the open cabinet door" ] }, { "task_id": "0002434", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up the grey house shoe from the second shelf and place it on the left side of the topmost shelf, B.pick up the pen from the black cup and put it on the book, C.plug in the USB drive to the docking station, D.put a can in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002434.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the grey house shoe from the second shelf and place it on the left side of the topmost shelf", "B.pick up the pen from the black cup and put it on the book", "C.plug in the USB drive to the docking station", "D.put a can in the sink" ] }, { "task_id": "0002435", "task": "TrajChoice", "id": "RH20T_cfg4_task_0116_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the paper glue in the green mug, B.put the bottle from the bag onto the table, C.place the white hanger on the handle of the left upper cabinet door, D.use the correction tape on paper], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002435.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the paper glue in the green mug", "B.put the bottle from the bag onto the table", "C.place the white hanger on the handle of the left upper cabinet door", "D.use the correction tape on paper" ] }, { "task_id": "0002436", "task": "TrajChoice", "id": "RH20T_cfg3_task_0048_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.rotate the steering wheel clockwise, B.move the teapot forward, C.installing a light bulb by rotating it, D.take a bottle from the tray and put it in the bigger container], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002436.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel clockwise", "B.move the teapot forward", "C.installing a light bulb by rotating it", "D.take a bottle from the tray and put it in the bigger container" ] }, { "task_id": "0002437", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn on the water tap, B.put the orange block on top of the green block, C.switch off the light, D.take a tissue out of the tissue box and put it on the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002437.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.put the orange block on top of the green block", "C.switch off the light", "D.take a tissue out of the tissue box and put it on the counter" ] }, { "task_id": "0002438", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the small black object on the tray, B.pour the things in the cup into the red bowl, C.take something out of a drawer, D.remove the white lid from the clear container] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002438.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small black object on the tray", "B.pour the things in the cup into the red bowl", "C.take something out of a drawer", "D.remove the white lid from the clear container" ] }, { "task_id": "0002439", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0008_cfg_0002_105422061350#370", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.insert the pencil into the pencil sharpener, B.take something out of a drawer, C.press the button from top to bottom, D.wipe the pot with a towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002439.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.take something out of a drawer", "C.press the button from top to bottom", "D.wipe the pot with a towel" ] }, { "task_id": "0002440", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the silver basin and put it on the table, B.screw the lid onto the jar (needs to be rotated), C.pick up the green packet and put it in the sink, D.put the marker in the cup] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002440.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the silver basin and put it on the table", "B.screw the lid onto the jar (needs to be rotated)", "C.pick up the green packet and put it in the sink", "D.put the marker in the cup" ] }, { "task_id": "0002441", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.press on the blue bottle, C.the push device, D.move the two pens and place them into the black bucket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002441.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.press on the blue bottle", "C.the push device", "D.move the two pens and place them into the black bucket" ] }, { "task_id": "0002442", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the things in the drawer, B.put the pen in the mug cup, C.put the marker in the blue cup, D.move the cup to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002442.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.put the pen in the mug cup", "C.put the marker in the blue cup", "D.move the cup to the left" ] }, { "task_id": "0002443", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0008_cfg_0002_105422061350#190", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the lid on the container and push the button, B.put the marker inside the coffee cup, C.put the things in the drawer, D.pick up the yellow rectangular block and place it in the wooden box through the square cut-out on the lid], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002443.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the container and push the button", "B.put the marker inside the coffee cup", "C.put the things in the drawer", "D.pick up the yellow rectangular block and place it in the wooden box through the square cut-out on the lid" ] }, { "task_id": "0002444", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the gray towel from the backrest of the black chair to the seat of the chair, B.put the plate in the plate, C.turn off the power strip by pressing the button, D.stacking blocks (small Lego) randomly one at a time], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002444.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the gray towel from the backrest of the black chair to the seat of the chair", "B.put the plate in the plate", "C.turn off the power strip by pressing the button", "D.stacking blocks (small Lego) randomly one at a time" ] }, { "task_id": "0002445", "task": "TrajChoice", "id": "RH20T_cfg5_task_0029_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the teabag in the cup on the book, B.put the purple block on the block pile, C.open the drawer, D.place the yellow block upright], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002445.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the teabag in the cup on the book", "B.put the purple block on the block pile", "C.open the drawer", "D.place the yellow block upright" ] }, { "task_id": "0002446", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the building blocks on the table, B.turn the knob to increase the volume of the speaker, C.cover the pot, D.turn on the machine switch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002446.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the building blocks on the table", "B.turn the knob to increase the volume of the speaker", "C.cover the pot", "D.turn on the machine switch" ] }, { "task_id": "0002447", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the silver remote in the red bowl, B.put the white cloth on the pile of cloth, C.use the cloth to wipe the counter, D.pick up and place an object with obstacles] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002447.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver remote in the red bowl", "B.put the white cloth on the pile of cloth", "C.use the cloth to wipe the counter", "D.pick up and place an object with obstacles" ] }, { "task_id": "0002448", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button of the power strip, B.put the watermelon plushie in the black pot, C.unscrew the lid from the jar, D.transfer the building blocks from the block tower to the desktop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002448.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button of the power strip", "B.put the watermelon plushie in the black pot", "C.unscrew the lid from the jar", "D.transfer the building blocks from the block tower to the desktop" ] }, { "task_id": "0002449", "task": "TrajChoice", "id": "RH20T_cfg1_task_0064_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the hat from the cabinet to the door, B.take the roll of paper down from the shelf, C.pick up the marker and place it in the cup, D.put the marker in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002449.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the hat from the cabinet to the door", "B.take the roll of paper down from the shelf", "C.pick up the marker and place it in the cup", "D.put the marker in the bowl" ] }, { "task_id": "0002450", "task": "TrajChoice", "id": "RH20T_cfg1_task_0086_user_0010_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.knock the cup over on the table, B.dial a number on an old rotary phone, C.pick up the pen from the bowl and put it on the table, D.take the marker out of the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002450.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.knock the cup over on the table", "B.dial a number on an old rotary phone", "C.pick up the pen from the bowl and put it on the table", "D.take the marker out of the cup and put it on the table" ] }, { "task_id": "0002451", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the pen on the table, B.play the drum, C.put the marker on the left side of the table, D.assemble: attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002451.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the pen on the table", "B.play the drum", "C.put the marker on the left side of the table", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0002452", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the lid from the bowl, B.unfold the leg of the glasses, C.put the brown bowl object inside the basket, D.move the container to the left] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002452.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the bowl", "B.unfold the leg of the glasses", "C.put the brown bowl object inside the basket", "D.move the container to the left" ] }, { "task_id": "0002454", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents of the gray cup into the bowl, B.press the machine switch, C.place the handset of the telephone on the corresponding phone cradle, D.unfold the leg of the glasses (with one hand)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002454.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the gray cup into the bowl", "B.press the machine switch", "C.place the handset of the telephone on the corresponding phone cradle", "D.unfold the leg of the glasses (with one hand)" ] }, { "task_id": "0002455", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.play jenga, B.stack the brown blocks, C.slide the pot forward on the stove, D.put the grey backpack on the black chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002455.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.stack the brown blocks", "C.slide the pot forward on the stove", "D.put the grey backpack on the black chair" ] }, { "task_id": "0002456", "task": "TrajChoice", "id": "RH20T_cfg7_task_0210_user_0066_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.slide the curtain to the left, B.put the orange towel on the back of the chair, C.chop the onions, D.remove the marker from the yellow cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002456.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the curtain to the left", "B.put the orange towel on the back of the chair", "C.chop the onions", "D.remove the marker from the yellow cup" ] }, { "task_id": "0002457", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the blue clip from the upper hook on the wooden stand and place it on the lower hook, B.put the block on the desktop onto the base, C.rotate the steering wheel counterclockwise, D.put the toilet paper on its holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002457.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the blue clip from the upper hook on the wooden stand and place it on the lower hook", "B.put the block on the desktop onto the base", "C.rotate the steering wheel counterclockwise", "D.put the toilet paper on its holder" ] }, { "task_id": "0002458", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.hit the pool ball, B.turn off the second switch from the right, C.moving the white tape from the table to the transparent box, D.pick up the orange pack of chips from the table and place it on the top shelf with the other orange packs of chips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002458.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.turn off the second switch from the right", "C.moving the white tape from the table to the transparent box", "D.pick up the orange pack of chips from the table and place it on the top shelf with the other orange packs of chips" ] }, { "task_id": "0002459", "task": "TrajChoice", "id": "RH20T_cfg6_task_0020_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the desk lamp by pressing the button, B.move the cloth to the right, C.remove the gray object from the orange object, D.pull out a tissue from the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002459.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.move the cloth to the right", "C.remove the gray object from the orange object", "D.pull out a tissue from the box" ] }, { "task_id": "0002460", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the silver lid on the silver teapot, B.moving a plastic product from the box to the table, C.put the knife on the cutting board, D.press the button on the top right of the microwave] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002460.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the silver lid on the silver teapot", "B.moving a plastic product from the box to the table", "C.put the knife on the cutting board", "D.press the button on the top right of the microwave" ] }, { "task_id": "0002462", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.hit the pool ball, B.remove the bubble ring from the assembled bubble ring and ball, C.take the wooden block from the desk and put it inside the drawer, then close the drawer, D.pick up the yellow block from the table and put it in the silver pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002462.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the bubble ring from the assembled bubble ring and ball", "C.take the wooden block from the desk and put it inside the drawer, then close the drawer", "D.pick up the yellow block from the table and put it in the silver pot" ] }, { "task_id": "0002463", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0002_cfg_0002_105422061350#239", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the cup to the left, B.move the black cloth to the armrest of the chair, C.take the wooden block from the desk and put it inside the drawer, then close the drawer, D.move the black basket forwards] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002463.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the left", "B.move the black cloth to the armrest of the chair", "C.take the wooden block from the desk and put it inside the drawer, then close the drawer", "D.move the black basket forwards" ] }, { "task_id": "0002464", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the marker to the transparent long box, B.slide the tissue on the table and throw the tissue into the trash can, C.turn the knob to decrease the volume of the speaker, D.place the white lid on top of the clear food container, then press the button on the lid] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002464.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the transparent long box", "B.slide the tissue on the table and throw the tissue into the trash can", "C.turn the knob to decrease the volume of the speaker", "D.place the white lid on top of the clear food container, then press the button on the lid" ] }, { "task_id": "0002465", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a bag of things, B.unfold the sweatshirt on the table, C.scrubbing the table with a brush, D.an object is placed on the desktop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002465.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.unfold the sweatshirt on the table", "C.scrubbing the table with a brush", "D.an object is placed on the desktop" ] }, { "task_id": "0002466", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the clothes from the bag onto the box, B.pick up a small block, C.press the microwave button, D.take the lid off the pot and put it on the table, take the toy tomato out of the pot and put it on the table, then use the towel to wipe the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002466.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothes from the bag onto the box", "B.pick up a small block", "C.press the microwave button", "D.take the lid off the pot and put it on the table, take the toy tomato out of the pot and put it on the table, then use the towel to wipe the table" ] }, { "task_id": "0002467", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the cup to the left of the plate, B.put the items on the table into the sink, C.turn the hands of a clock, D.put the remote on the couch] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002467.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the left of the plate", "B.put the items on the table into the sink", "C.turn the hands of a clock", "D.put the remote on the couch" ] }, { "task_id": "0002468", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the bottle in the box, B.pick up the small block on the left and move it to the right, C.put the first bowl on the table, D.press the machine button] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002468.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the box", "B.pick up the small block on the left and move it to the right", "C.put the first bowl on the table", "D.press the machine button" ] }, { "task_id": "0002469", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0017_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the cup to the left side position, B.take the cup off the cup rack, C.the medium pipette tip is inserted into the holder for medium pipette tips, D.pick up the towel from the table, wipe the grey plate and put the towel back on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002469.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup to the left side position", "B.take the cup off the cup rack", "C.the medium pipette tip is inserted into the holder for medium pipette tips", "D.pick up the towel from the table, wipe the grey plate and put the towel back on the table" ] }, { "task_id": "0002470", "task": "TrajChoice", "id": "RH20T_cfg5_task_0071_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.removing the light bulb by rotating it, B.remove the lid from the pot and place it on the table, C.switch on the light, D.close a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002470.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.removing the light bulb by rotating it", "B.remove the lid from the pot and place it on the table", "C.switch on the light", "D.close a sliding window" ] }, { "task_id": "0002471", "task": "TrajChoice", "id": "RH20T_cfg1_task_0003_user_0004_scene_0003_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press three buttons from left to right in sequence, B.remove the bottle from the carrier bag and put it on the table, C.turn on the electric kettle, D.move the white towel from the black stand to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002471.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press three buttons from left to right in sequence", "B.remove the bottle from the carrier bag and put it on the table", "C.turn on the electric kettle", "D.move the white towel from the black stand to the table" ] }, { "task_id": "0002472", "task": "TrajChoice", "id": "RH20T_cfg1_task_0105_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the lid off the pot, B.put the towel on the table onto the tray, C.put the transparent container on the shelf, D.press the button on the white base of the red button] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002472.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off the pot", "B.put the towel on the table onto the tray", "C.put the transparent container on the shelf", "D.press the button on the white base of the red button" ] }, { "task_id": "0002474", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the fabric from the bag to the box, B.move the cloth on the table forward, C.put the knife on the knife rack, D.put the clothes on the bed] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002474.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the fabric from the bag to the box", "B.move the cloth on the table forward", "C.put the knife on the knife rack", "D.put the clothes on the bed" ] }, { "task_id": "0002475", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the things in the drawer, B.put the bath towel into the basket, C.put the cup on the cup rack, D.take the sponge out of the bowl and place it on the pullout table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002475.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.put the bath towel into the basket", "C.put the cup on the cup rack", "D.take the sponge out of the bowl and place it on the pullout table" ] }, { "task_id": "0002476", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the marker in the cup and put it on the table, B.use the gripper to push the small block from left to right, C.put the blue marker on the purple placemat, D.close the kettle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002476.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker in the cup and put it on the table", "B.use the gripper to push the small block from left to right", "C.put the blue marker on the purple placemat", "D.close the kettle" ] }, { "task_id": "0002477", "task": "TrajChoice", "id": "RH20T_cfg1_task_0122_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the green cup from the dish rack and place it upright, B.the operation toy, C.put the knife on the cutting board, D.take out a potato and place it in the glass bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002477.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green cup from the dish rack and place it upright", "B.the operation toy", "C.put the knife on the cutting board", "D.take out a potato and place it in the glass bowl" ] }, { "task_id": "0002478", "task": "TrajChoice", "id": "RH20T_cfg6_task_0091_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move an object from one box to another, B.move the mug to the right side of the lunch box, C.put the pen in the mug cup, D.remove the thing from the pot and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002478.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move an object from one box to another", "B.move the mug to the right side of the lunch box", "C.put the pen in the mug cup", "D.remove the thing from the pot and put it on the table" ] }, { "task_id": "0002479", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0003_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the roll of paper down from the shelf, B.press the third switch from the right, C.put the marker in the pot, D.put the thing on the stovetop inside the pot in the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002479.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.press the third switch from the right", "C.put the marker in the pot", "D.put the thing on the stovetop inside the pot in the sink" ] }, { "task_id": "0002480", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the salt rack around, B.put the blocks on the table, C.unfold the leg of the glasses (with one hand), D.take the screwdriver and put it in the open drawer, and then close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002480.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the salt rack around", "B.put the blocks on the table", "C.unfold the leg of the glasses (with one hand)", "D.take the screwdriver and put it in the open drawer, and then close the drawer" ] }, { "task_id": "0002481", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take something out of a drawer, B.take the lid off the pot, C.slide the cup to the left, D.change the position of the toy kettle slightly anti-clockwise] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002481.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take something out of a drawer", "B.take the lid off the pot", "C.slide the cup to the left", "D.change the position of the toy kettle slightly anti-clockwise" ] }, { "task_id": "0002482", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up and place an object with obstacles, B.take the pen out of the cup, C.turn off the third switch from the left, D.transfer the object from the box to the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002482.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.take the pen out of the cup", "C.turn off the third switch from the left", "D.transfer the object from the box to the table" ] }, { "task_id": "0002483", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the green cloth very slightly to the left, B.put the black object on the tabletop, C.put the bottle in the bag, D.press the blue button on the white base on the desktop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002483.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green cloth very slightly to the left", "B.put the black object on the tabletop", "C.put the bottle in the bag", "D.press the blue button on the white base on the desktop" ] }, { "task_id": "0002484", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bottle in the cupboard, B.put the measuring tape closest to you in the box, C.push the small block from the right position to the left position, D.pick up and place an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002484.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the cupboard", "B.put the measuring tape closest to you in the box", "C.push the small block from the right position to the left position", "D.pick up and place an object with obstacles" ] }, { "task_id": "0002485", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put a packet in the black basket, B.pour the contents of the colourless cup into the white pot, C.drop a coin into the piggy bank, D.close the door of the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002485.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a packet in the black basket", "B.pour the contents of the colourless cup into the white pot", "C.drop a coin into the piggy bank", "D.close the door of the cabinet" ] }, { "task_id": "0002486", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the third drawer, B.put the pen into the pen holder, C.unfold a piece of paper that is folded once with one end weighed down, D.move the pot back], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002486.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the third drawer", "B.put the pen into the pen holder", "C.unfold a piece of paper that is folded once with one end weighed down", "D.move the pot back" ] }, { "task_id": "0002487", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the can in the sink, B.use the yellow towel to wipe the table, C.take the white knitted fabric from the sofa, move it to the top of the sofa back, D.open a box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002487.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the can in the sink", "B.use the yellow towel to wipe the table", "C.take the white knitted fabric from the sofa, move it to the top of the sofa back", "D.open a box" ] }, { "task_id": "0002488", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.fold up the grey cloth on the table, B.Turn on the third switch from the left, C.place the cup above the cup, D.assemble: attach the bubble ring to the ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002488.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold up the grey cloth on the table", "B.Turn on the third switch from the left", "C.place the cup above the cup", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0002489", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn the rod that is third from the right on the foosball table to the right, B.pick up the plate and pour its contents into the cup, C.turn the knob to increase the volume of the speaker, D.push the refrigerator door to close] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002489.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the rod that is third from the right on the foosball table to the right", "B.pick up the plate and pour its contents into the cup", "C.turn the knob to increase the volume of the speaker", "D.push the refrigerator door to close" ] }, { "task_id": "0002490", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0008_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the bubble ring from the assembled bubble ring and ball, B.moving the tape from the table to the top of the shelf, C.close the microwave door, D.scooping out items from the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002490.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.moving the tape from the table to the top of the shelf", "C.close the microwave door", "D.scooping out items from the box" ] }, { "task_id": "0002491", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the cushion from the left side of the black and white cushion to the right side of the black and white cushion, B.put the white rope on the desktop into the box, C.screw the lid onto the jar (needs to be rotated), D.put the right legos on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002491.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cushion from the left side of the black and white cushion to the right side of the black and white cushion", "B.put the white rope on the desktop into the box", "C.screw the lid onto the jar (needs to be rotated)", "D.put the right legos on the table" ] }, { "task_id": "0002492", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0015_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the green and white towels to the counter behind the sofa, B.turn the hands of a clock, C.put the yellow block in the blue cup, D.put the orange block on top of the green block] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002492.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green and white towels to the counter behind the sofa", "B.turn the hands of a clock", "C.put the yellow block in the blue cup", "D.put the orange block on top of the green block" ] }, { "task_id": "0002493", "task": "TrajChoice", "id": "RH20T_cfg5_task_0067_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the spray bottle to the left, B.place the fanta can to the left of the sink, C.press a button from top to bottom with obstacles, D.pick up the white lid and put it on the table. pick up the white lid and put it back on the container], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002493.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spray bottle to the left", "B.place the fanta can to the left of the sink", "C.press a button from top to bottom with obstacles", "D.pick up the white lid and put it on the table. pick up the white lid and put it back on the container" ] }, { "task_id": "0002494", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the paper bag from the table and put it in the cabinet, B.put the object from the plane into the pot, C.take the light blue shirt from the desk and put it into the box, then use a white cloth to wipe the desk, and place it into the box, D.encircle the ball with the bubble ring], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002494.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the paper bag from the table and put it in the cabinet", "B.put the object from the plane into the pot", "C.take the light blue shirt from the desk and put it into the box, then use a white cloth to wipe the desk, and place it into the box", "D.encircle the ball with the bubble ring" ] }, { "task_id": "0002495", "task": "TrajChoice", "id": "RH20T_cfg4_task_0047_user_0014_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close the box, B.pour the contents of the white mug into the white bowl, C.take the cup off the cup rack, D.push the bamboo dragonfly from the back side of the table to the front side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002495.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the box", "B.pour the contents of the white mug into the white bowl", "C.take the cup off the cup rack", "D.push the bamboo dragonfly from the back side of the table to the front side of the table" ] }, { "task_id": "0002496", "task": "TrajChoice", "id": "RH20T_cfg6_task_0105_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.rotate the steering wheel 90 degrees clockwise, B.pick up the pen from the table and put it in the mug cup, C.take a cup off the tray, D.put the block on the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002496.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.pick up the pen from the table and put it in the mug cup", "C.take a cup off the tray", "D.put the block on the shelf" ] }, { "task_id": "0002497", "task": "TrajChoice", "id": "RH20T_cfg2_task_0110_user_0007_scene_0009_cfg_0002_104422070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the pencil out from the pencil sharpener, B.take the lid off the cup, C.use a cloth to wipe the plate, D.push the white lid on the lunchbox to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002497.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.take the lid off the cup", "C.use a cloth to wipe the plate", "D.push the white lid on the lunchbox to the right" ] }, { "task_id": "0002499", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press the machine switch, B.close the blinds, C.grasp the handle and open the drawer, D.put the white cable into the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002499.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the machine switch", "B.close the blinds", "C.grasp the handle and open the drawer", "D.put the white cable into the box" ] }, { "task_id": "0002500", "task": "TrajChoice", "id": "RH20T_cfg4_task_0106_user_0007_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the object down from the shelf, B.put the pen in the cup, C.press the third button from the left, D.put the marker on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002500.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object down from the shelf", "B.put the pen in the cup", "C.press the third button from the left", "D.put the marker on the table" ] }, { "task_id": "0002501", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0016_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the laptop, B.place the handset of the telephone on the corresponding phone cradle, C.close the drawer, D.move the clear bottle to the left] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002501.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the laptop", "B.place the handset of the telephone on the corresponding phone cradle", "C.close the drawer", "D.move the clear bottle to the left" ] }, { "task_id": "0002502", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up a bag of things, B.remove the marker from the cup, C.moving the black fork from the table to the plate, D.pick up the can and place it in the box] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002502.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.remove the marker from the cup", "C.moving the black fork from the table to the plate", "D.pick up the can and place it in the box" ] }, { "task_id": "0002503", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0017_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the right button of the washing machine clockwise, B.drag the plate to the goal post after holding it down, C.push the black storage bin under the cabinet, D.move the mug to the left side of the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002503.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the right button of the washing machine clockwise", "B.drag the plate to the goal post after holding it down", "C.push the black storage bin under the cabinet", "D.move the mug to the left side of the counter" ] }, { "task_id": "0002504", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.the bottle is taken out and placed on the table, B.pick up the orange cup and put it in the light blue cup, C.push the lever on the toaster downwards, D.pulling the window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002504.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the bottle is taken out and placed on the table", "B.pick up the orange cup and put it in the light blue cup", "C.push the lever on the toaster downwards", "D.pulling the window" ] }, { "task_id": "0002505", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0002_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the bubble ring from the assembled bubble ring and ball, B.move the object from the middle of the table and place it above the table, C.move the pencil to the left, D.put the scissors in the bottom compartment of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002505.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.move the object from the middle of the table and place it above the table", "C.move the pencil to the left", "D.put the scissors in the bottom compartment of the cabinet" ] }, { "task_id": "0002506", "task": "TrajChoice", "id": "RH20T_cfg5_task_0091_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button on the machine, B.transfer the bowl from the tabletop to the left side of the tabletop, C.play the drum, D.move the wooden block from the pink box to the black box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002506.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the machine", "B.transfer the bowl from the tabletop to the left side of the tabletop", "C.play the drum", "D.move the wooden block from the pink box to the black box" ] }, { "task_id": "0002507", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0014_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the bottom drawer, B.move the objects from the orange bowl to the black pot, then cover the black pot with the glass lid, C.pick up the pen from the bowl and place it on the table, D.clean the table with a cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002507.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer", "B.move the objects from the orange bowl to the black pot, then cover the black pot with the glass lid", "C.pick up the pen from the bowl and place it on the table", "D.clean the table with a cloth" ] }, { "task_id": "0002508", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the pen into the bowl, B.put the green object in the bowl, C.put the silver bottle cap in the light blue cup, D.holding a small block with the gripper and sweeping it from left to right on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002508.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the bowl", "B.put the green object in the bowl", "C.put the silver bottle cap in the light blue cup", "D.holding a small block with the gripper and sweeping it from left to right on the table" ] }, { "task_id": "0002509", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up a small block, B.move the blue pack to the right, C.move the marker slightly forward, move the bowl backward, pick up the marker and put in the bowl, D.put the block into the shape sorting box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002509.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.move the blue pack to the right", "C.move the marker slightly forward, move the bowl backward, pick up the marker and put in the bowl", "D.put the block into the shape sorting box" ] }, { "task_id": "0002510", "task": "TrajChoice", "id": "RH20T_cfg2_task_0081_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the spoon into the transparent bucket, B.unfold the leg of the glasses (with one hand), C.build with small Lego blocks for the nth time with n blocks, D.water the plant], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002510.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon into the transparent bucket", "B.unfold the leg of the glasses (with one hand)", "C.build with small Lego blocks for the nth time with n blocks", "D.water the plant" ] }, { "task_id": "0002511", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the donut toy on the orange plate, B.use the blue towel to wipe the tabletop, C.place the block on the block, D.turn off the water tap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002511.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the donut toy on the orange plate", "B.use the blue towel to wipe the tabletop", "C.place the block on the block", "D.turn off the water tap" ] }, { "task_id": "0002512", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the spoon from the napkin to the box, B.press a button horizontally with obstacles, C.turn off the water tap, D.move the cup closer to the left white plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002512.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the spoon from the napkin to the box", "B.press a button horizontally with obstacles", "C.turn off the water tap", "D.move the cup closer to the left white plate" ] }, { "task_id": "0002513", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0008_scene_0001_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker in the bowl, B.play jenga, C.flip the small bowl, D.wipe the table with the napkin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002513.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.play jenga", "C.flip the small bowl", "D.wipe the table with the napkin" ] }, { "task_id": "0002514", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the hands of a clock, B.use the gripper to push and close the drawer, C.drag the plate to the goal post after holding it down, D.put the marker in the green cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002514.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.use the gripper to push and close the drawer", "C.drag the plate to the goal post after holding it down", "D.put the marker in the green cup" ] }, { "task_id": "0002515", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0007_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the toilet paper on its holder, B.unfold the towel, C.unfold the leg of the glasses, D.put the blocks on the building into the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002515.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.unfold the towel", "C.unfold the leg of the glasses", "D.put the blocks on the building into the box" ] }, { "task_id": "0002517", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer the pot lid from the stove to the pot, B.transfer the marker from the silver cup to the table, C.place the brush on the pen rack, D.take the lid off the white and pink cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002517.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the pot lid from the stove to the pot", "B.transfer the marker from the silver cup to the table", "C.place the brush on the pen rack", "D.take the lid off the white and pink cup" ] }, { "task_id": "0002518", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0006_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the green object from the desk and put it into the green bowl, B.move the marker closer to the bowl, C.remove the marker from the mug and put it on the table, D.place the handset of the telephone on the corresponding phone cradle] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002518.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the green object from the desk and put it into the green bowl", "B.move the marker closer to the bowl", "C.remove the marker from the mug and put it on the table", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0002519", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.hit the pool ball, B.take an object from the box and put it in the white bowl, C.pour the contents of the bowl into the cup, then place the bowl on the plate, D.turn off the power strip by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002519.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.take an object from the box and put it in the white bowl", "C.pour the contents of the bowl into the cup, then place the bowl on the plate", "D.turn off the power strip by pressing the button" ] }, { "task_id": "0002520", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pressing the button on the remote control on the table, B.move the blue masking tape to the left, C.transfer the brown plush toy from the box to the bowl, D.turn on the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002520.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the button on the remote control on the table", "B.move the blue masking tape to the left", "C.transfer the brown plush toy from the box to the bowl", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0002521", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the drawer, B.press the machine switch, C.Insert the tip of a medium pipette into the holder for medium pipette tips, D.take a cup from the left side of the table, move it to the top of a large bowl on the right side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002521.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer", "B.press the machine switch", "C.Insert the tip of a medium pipette into the holder for medium pipette tips", "D.take a cup from the left side of the table, move it to the top of a large bowl on the right side of the table" ] }, { "task_id": "0002522", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press a button from top to bottom with obstacles, B.assemble one piece of a puzzle, C.put the white cloth on the black stand, D.turn the tap handle up], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002522.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom with obstacles", "B.assemble one piece of a puzzle", "C.put the white cloth on the black stand", "D.turn the tap handle up" ] }, { "task_id": "0002523", "task": "TrajChoice", "id": "RH20T_cfg7_task_0038_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the object into the bag, B.take an object from the left side of the desk to the right side of the desk, C.pick up the cup, D.put the glue stick in the mug] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002523.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bag", "B.take an object from the left side of the desk to the right side of the desk", "C.pick up the cup", "D.put the glue stick in the mug" ] }, { "task_id": "0002524", "task": "TrajChoice", "id": "RH20T_cfg2_task_0100_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.stir the beaker with a glass rod, B.push the microwave back, C.remove the lid and put it on the table, D.rotate the lamp shade counterclockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002524.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stir the beaker with a glass rod", "B.push the microwave back", "C.remove the lid and put it on the table", "D.rotate the lamp shade counterclockwise" ] }, { "task_id": "0002525", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the pen out of the mug and put it on the table, B.remove the ring from the wooden stand and place it on the table, C.take the roll of paper down from the shelf, D.put the marker in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002525.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen out of the mug and put it on the table", "B.remove the ring from the wooden stand and place it on the table", "C.take the roll of paper down from the shelf", "D.put the marker in the cup" ] }, { "task_id": "0002529", "task": "TrajChoice", "id": "RH20T_cfg1_task_0010_user_0005_scene_0006_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the handset of the telephone on the corresponding phone cradle, B.put the rubber band around the jar, C.place the filter on the kettle, D.move the orange tool from the red base to the blue cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002529.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.put the rubber band around the jar", "C.place the filter on the kettle", "D.move the orange tool from the red base to the blue cup" ] }, { "task_id": "0002530", "task": "TrajChoice", "id": "RH20T_cfg2_task_0074_user_0014_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the spoon to stir in the plastic box, B.move the glue stick from the storage box to the table, C.put the screwdriver on the table, D.press the button horizontally] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002530.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the spoon to stir in the plastic box", "B.move the glue stick from the storage box to the table", "C.put the screwdriver on the table", "D.press the button horizontally" ] }, { "task_id": "0002531", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0015_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the bowl to the right, B.put the orange cup into the blue cup, C.put the scraper in the cabinet and close the cabinet door, D.press the red button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002531.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the right", "B.put the orange cup into the blue cup", "C.put the scraper in the cabinet and close the cabinet door", "D.press the red button" ] }, { "task_id": "0002532", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.plug in the bulb holder to the socket, B.put some of the contents in the jar on the plate, C.pour the items from the bowl onto the table, D.pick up the measuring tape and put it at the edge of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002532.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.put some of the contents in the jar on the plate", "C.pour the items from the bowl onto the table", "D.pick up the measuring tape and put it at the edge of the table" ] }, { "task_id": "0002535", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button on the microwave, B.take the lid from the table and place it on the pot, C.put the white medicine bottle on the table, D.turn the knob to increase the volume of the speaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002535.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the microwave", "B.take the lid from the table and place it on the pot", "C.put the white medicine bottle on the table", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0002536", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0016_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toilet paper on its holder, B.put the white bottle on the table, C.put the box into the storage basket, D.unfold the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002536.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the white bottle on the table", "C.put the box into the storage basket", "D.unfold the towel" ] }, { "task_id": "0002537", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.assemble one piece of a puzzle, B.remove the blue cup out of the bowl, C.move the black and white mugs forward, D.pull the towel to the back of the sofa], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002537.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.remove the blue cup out of the bowl", "C.move the black and white mugs forward", "D.pull the towel to the back of the sofa" ] }, { "task_id": "0002538", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the carrot plush toy from the stove and put it in the pot, B.pulling the curtain to the right, C.remove the marker out of the cup, D.put the pen into the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002538.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the carrot plush toy from the stove and put it in the pot", "B.pulling the curtain to the right", "C.remove the marker out of the cup", "D.put the pen into the pen holder" ] }, { "task_id": "0002539", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0010_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the bag from the back of the chair, move it from the right side to the left side, B.pick up the rubber ducky and place it on the left, C.put the highlighter inside the cup, D.take the roll of paper down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002539.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bag from the back of the chair, move it from the right side to the left side", "B.pick up the rubber ducky and place it on the left", "C.put the highlighter inside the cup", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0002540", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the book on the bookshelf, B.put the fork and knife in the red cup and move it to the right, C.remove the orange ring from the wooden platform, D.clean the table with a cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002540.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the bookshelf", "B.put the fork and knife in the red cup and move it to the right", "C.remove the orange ring from the wooden platform", "D.clean the table with a cloth" ] }, { "task_id": "0002541", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the tissue roll to the top left corner of the table and put the bottle on the chair on the table, B.remove the marker from the mug cup, C.use the gripper to push and close the drawer, D.cover the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002541.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tissue roll to the top left corner of the table and put the bottle on the chair on the table", "B.remove the marker from the mug cup", "C.use the gripper to push and close the drawer", "D.cover the pot" ] }, { "task_id": "0002542", "task": "TrajChoice", "id": "RH20T_cfg4_task_0006_user_0010_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push the small block from left to right, B.put the rubber band on the jar, C.pick up the black tray and move it to the right then move the striped bowl to the left, D.put the marker in the silver cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002542.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.put the rubber band on the jar", "C.pick up the black tray and move it to the right then move the striped bowl to the left", "D.put the marker in the silver cup" ] }, { "task_id": "0002543", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the black bowl from the sink to the plate dryer, B.plug in the bulb holder to the socket, C.a transparent square box in front of the movable desk, D.put the paper plate in the cabinet] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002543.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black bowl from the sink to the plate dryer", "B.plug in the bulb holder to the socket", "C.a transparent square box in front of the movable desk", "D.put the paper plate in the cabinet" ] }, { "task_id": "0002544", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0006_cfg_0004_038522062288#402", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the power strip switch, B.put the orange cup in the black bowl, C.plug in the bulb holder to the socket, D.put the object on the plate] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002544.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip switch", "B.put the orange cup in the black bowl", "C.plug in the bulb holder to the socket", "D.put the object on the plate" ] }, { "task_id": "0002545", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.blackboard eraser, B.move the coffee pot, C.press the machine button, D.Assemble: Attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002545.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.blackboard eraser", "B.move the coffee pot", "C.press the machine button", "D.Assemble: Attach the bubble ring to the ball" ] }, { "task_id": "0002546", "task": "TrajChoice", "id": "RH20T_cfg5_task_0200_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bowl from the countertop to behind the countertop, move the object from the countertop into the bowl, B.press a button on the keyboard to open the notebook, C.move the green cloth to the left, D.Insert the tip of a large pipette into the holder for large pipette tips] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002546.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl from the countertop to behind the countertop, move the object from the countertop into the bowl", "B.press a button on the keyboard to open the notebook", "C.move the green cloth to the left", "D.Insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0002547", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0015_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the purple toy from the table and put it in the plate, B.take the items off the drying rack and put them on the right, C.pick up the black lid from the table and put it on the bottle, D.scrubbing the table with a brush], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002547.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the purple toy from the table and put it in the plate", "B.take the items off the drying rack and put them on the right", "C.pick up the black lid from the table and put it on the bottle", "D.scrubbing the table with a brush" ] }, { "task_id": "0002548", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.moving an object from the stove to the bowl, B.put the white fabric into the bag, C.put the pot on the left side of the table, D.screw the lid onto the jar] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002548.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving an object from the stove to the bowl", "B.put the white fabric into the bag", "C.put the pot on the left side of the table", "D.screw the lid onto the jar" ] }, { "task_id": "0002549", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0002_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the drawer, B.pick up the blue object and move it close to the edge of the table, C.press some of the keys on the keyboard, D.slide the outer casing onto the gift box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002549.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer", "B.pick up the blue object and move it close to the edge of the table", "C.press some of the keys on the keyboard", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0002550", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the book on the back of the sofa, B.put the yellow block in the white bowl, C.press the mouse, D.push the block to the left side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002550.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the book on the back of the sofa", "B.put the yellow block in the white bowl", "C.press the mouse", "D.push the block to the left side of the table" ] }, { "task_id": "0002551", "task": "TrajChoice", "id": "RH20T_cfg3_task_0048_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.scrubbing the table with a brush, B.rotate the steering wheel 90 degrees clockwise, C.fold the fabric, D.pick up the tissue and then put it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002551.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.rotate the steering wheel 90 degrees clockwise", "C.fold the fabric", "D.pick up the tissue and then put it in the bowl" ] }, { "task_id": "0002552", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker in the mug, B.move the container to the open cabinet, C.put the black cup on the black and white plate, D.clean the table with a cloth] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002552.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.move the container to the open cabinet", "C.put the black cup on the black and white plate", "D.clean the table with a cloth" ] }, { "task_id": "0002553", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0002_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn off the water tap, B.remove the black container from the bottom shelf and put it in the basket, C.slide the outer casing onto the gift box, D.put the marker inside the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002553.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.remove the black container from the bottom shelf and put it in the basket", "C.slide the outer casing onto the gift box", "D.put the marker inside the cup" ] }, { "task_id": "0002554", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.turn the tap to the right, C.move the wooden spoon to the right side of the stove, D.turn the knob on the dishwasher clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002554.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.turn the tap to the right", "C.move the wooden spoon to the right side of the stove", "D.turn the knob on the dishwasher clockwise" ] }, { "task_id": "0002555", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0015_scene_0010_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the things in the drawer, B.put the marker in the bowl, C.press the red button from top to bottom, D.put the green block on top of the orange block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002555.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.put the marker in the bowl", "C.press the red button from top to bottom", "D.put the green block on top of the orange block" ] }, { "task_id": "0002556", "task": "TrajChoice", "id": "RH20T_cfg6_task_0102_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the lid on the spray bottle, B.scrubbing the table with a brush, C.put the pot lid into the open drawer from the tabletop, D.slide the outer casing onto the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002556.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the spray bottle", "B.scrubbing the table with a brush", "C.put the pot lid into the open drawer from the tabletop", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0002557", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0007_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold the towel, B.remove the green block from the bowl, C.put the marker in the cup, D.put the knife on the knife rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002557.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the towel", "B.remove the green block from the bowl", "C.put the marker in the cup", "D.put the knife on the knife rack" ] }, { "task_id": "0002558", "task": "TrajChoice", "id": "RH20T_cfg1_task_0042_user_0016_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the steering wheel clockwise, B.screw the lid onto the jar, C.use the gripper to push and close the drawer, D.put the bath towel into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002558.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel clockwise", "B.screw the lid onto the jar", "C.use the gripper to push and close the drawer", "D.put the bath towel into the basket" ] }, { "task_id": "0002559", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the glasses to the plate, B.remove the marker from the mug, C.pull out a napkin, D.put the green bag inside the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002559.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the glasses to the plate", "B.remove the marker from the mug", "C.pull out a napkin", "D.put the green bag inside the basket" ] }, { "task_id": "0002560", "task": "TrajChoice", "id": "RH20T_cfg1_task_0013_user_0001_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block on the scale, B.turn on the lamp, C.take the glue stick out of the bowl and put it on the table, D.move the cup slightly to the center of the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002560.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.turn on the lamp", "C.take the glue stick out of the bowl and put it on the table", "D.move the cup slightly to the center of the desk" ] }, { "task_id": "0002561", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp a small block to sweep another small block into a designated position, B.remove the bubble ring from the assembled bubble ring and ball, C.put the garbage in the trash can, D.push down the lever] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002561.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep another small block into a designated position", "B.remove the bubble ring from the assembled bubble ring and ball", "C.put the garbage in the trash can", "D.push down the lever" ] }, { "task_id": "0002562", "task": "TrajChoice", "id": "RH20T_cfg4_task_0063_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press on the keyboard, B.use a shovel to scoop up an object, C.remove the clothes from the bag and put them on the couch, D.put the glue stick inside the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002562.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press on the keyboard", "B.use a shovel to scoop up an object", "C.remove the clothes from the bag and put them on the couch", "D.put the glue stick inside the cup" ] }, { "task_id": "0002563", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the left cabinet door, B.place the handset of the telephone on the corresponding phone cradle, C.put the orange cup in the blue cup, D.pick up the towel from the bag and drop it on the floor], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002563.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the left cabinet door", "B.place the handset of the telephone on the corresponding phone cradle", "C.put the orange cup in the blue cup", "D.pick up the towel from the bag and drop it on the floor" ] }, { "task_id": "0002564", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0010_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents of the cup into the bowl, B.place the object on the table, C.take the roll of paper down from the shelf, D.pour the thing into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002564.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the cup into the bowl", "B.place the object on the table", "C.take the roll of paper down from the shelf", "D.pour the thing into the bowl" ] }, { "task_id": "0002565", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.drop a coin into a piggy bank, B.push the block backward, C.moving the cup from the left side of the table to the right side, D.put the cable inside the compartment], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002565.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.push the block backward", "C.moving the cup from the left side of the table to the right side", "D.put the cable inside the compartment" ] }, { "task_id": "0002566", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a packet from the counter and put it in the black basket, B.put the marker inside the green cup, C.put the paper cup on the upper table, D.put the knife on the cutting board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002566.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a packet from the counter and put it in the black basket", "B.put the marker inside the green cup", "C.put the paper cup on the upper table", "D.put the knife on the cutting board" ] }, { "task_id": "0002567", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0014_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the lid and place it on the stove, B.move the black cap to the right, C.put the marker in the green cup, D.clean the table with a cloth], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002567.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid and place it on the stove", "B.move the black cap to the right", "C.put the marker in the green cup", "D.clean the table with a cloth" ] }, { "task_id": "0002568", "task": "TrajChoice", "id": "RH20T_cfg4_task_0020_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.unscrew the lid from the jar and place it on the table, B.pick up the rod and move it within the silver cup, C.pick up the white bottle and the white can and move them to the target location, D.turn on the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002568.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar and place it on the table", "B.pick up the rod and move it within the silver cup", "C.pick up the white bottle and the white can and move them to the target location", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0002569", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.change the direction of the tap, B.move the cup to the left, C.push the small block to the adjacent position, D.folding a towel on the desk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002569.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.change the direction of the tap", "B.move the cup to the left", "C.push the small block to the adjacent position", "D.folding a towel on the desk" ] }, { "task_id": "0002570", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker in the bowl, B.turn the hands of a clock, C.move the yellow can to the back, D.take the bottle from the pot and place it on the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002570.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.turn the hands of a clock", "C.move the yellow can to the back", "D.take the bottle from the pot and place it on the counter" ] }, { "task_id": "0002571", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold a piece of paper that has been folded once (with one end being pressed down by a heavy object), B.wave the flag, C.push the chair, press the box, D.take the building block from the counter and put it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002571.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once (with one end being pressed down by a heavy object)", "B.wave the flag", "C.push the chair, press the box", "D.take the building block from the counter and put it in the bowl" ] }, { "task_id": "0002572", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the toilet paper on the shelf, B.take everything out of the gift box, C.move the fork on the right to the left, D.remove the cup from the stack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002572.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on the shelf", "B.take everything out of the gift box", "C.move the fork on the right to the left", "D.remove the cup from the stack" ] }, { "task_id": "0002573", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0001_cfg_0007_104122064161#188", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take everything out of the gift box, B.chop the onions with a kitchen knife, C.put the white object on the shelf, D.move the tap nozzle to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002573.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.chop the onions with a kitchen knife", "C.put the white object on the shelf", "D.move the tap nozzle to the right" ] }, { "task_id": "0002575", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the tap to the left, B.unfolding the folded paper, C.place the pot lid on the stove, D.take the marker out of the green mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002575.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the tap to the left", "B.unfolding the folded paper", "C.place the pot lid on the stove", "D.take the marker out of the green mug" ] }, { "task_id": "0002576", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.shake the test tube and then insert it into the test tube rack, B.push the small block a little to the side, C.press the on/off button, D.remove the object from the scale and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002576.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.shake the test tube and then insert it into the test tube rack", "B.push the small block a little to the side", "C.press the on/off button", "D.remove the object from the scale and place it on the table" ] }, { "task_id": "0002577", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the tap nozzle from the right side to the left side, B.drag the plate back after holding it down, C.transfer the item from the box to the green bowl, D.grasp the handle and close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002577.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tap nozzle from the right side to the left side", "B.drag the plate back after holding it down", "C.transfer the item from the box to the green bowl", "D.grasp the handle and close the drawer" ] }, { "task_id": "0002578", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0020_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the purple knife on the counter, B.pull out a napkin, C.turn the object clockwise over, D.put the tape measure in the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002578.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the purple knife on the counter", "B.pull out a napkin", "C.turn the object clockwise over", "D.put the tape measure in the drawer" ] }, { "task_id": "0002581", "task": "TrajChoice", "id": "RH20T_cfg5_task_0007_user_0010_scene_0006_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.hold a small block with the gripper and sweep it from left to right on the table, B.place the object on the other side of the sofa, C.put the stopper in the drainer, D.pick up the pen and put it in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002581.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hold a small block with the gripper and sweep it from left to right on the table", "B.place the object on the other side of the sofa", "C.put the stopper in the drainer", "D.pick up the pen and put it in the cup" ] }, { "task_id": "0002582", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the jar on the desktop on top of the microwave, B.holding a small block with the gripper and sweeping it from left to right on the table, C.pick up the gray towel from the desk and put it into the glass bowl, D.put the white object and the plastic bag in the open drawer and then close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002582.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the jar on the desktop on top of the microwave", "B.holding a small block with the gripper and sweeping it from left to right on the table", "C.pick up the gray towel from the desk and put it into the glass bowl", "D.put the white object and the plastic bag in the open drawer and then close the drawer" ] }, { "task_id": "0002583", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the yellow block in the orange bowl, B.slide the outer casing onto the gift box, C.put the green ball from the table into the cup, D.move the marker to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002583.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the orange bowl", "B.slide the outer casing onto the gift box", "C.put the green ball from the table into the cup", "D.move the marker to the left" ] }, { "task_id": "0002584", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0001_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the desk lamp by pressing the button, B.fold the green cloth in half, C.cover the pot lid, D.press the stapler] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002584.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.fold the green cloth in half", "C.cover the pot lid", "D.press the stapler" ] }, { "task_id": "0002585", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.cover the box, B.cover the kettle with the lid, C.pick up a bag of things and throw it on the table, D.remove the cloth from the wooden stand], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002585.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.cover the kettle with the lid", "C.pick up a bag of things and throw it on the table", "D.remove the cloth from the wooden stand" ] }, { "task_id": "0002586", "task": "TrajChoice", "id": "RH20T_cfg1_task_0010_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put a small packet in the basket, B.place the handset of the telephone on the corresponding phone cradle, C.move the towel to the left, D.move the object diagonally upwards to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002586.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a small packet in the basket", "B.place the handset of the telephone on the corresponding phone cradle", "C.move the towel to the left", "D.move the object diagonally upwards to the left" ] }, { "task_id": "0002587", "task": "TrajChoice", "id": "RH20T_cfg1_task_0031_user_0001_scene_0009_cfg_0001_750612070853#295", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the knife on the cutting board, B.cover the box, C.put the object on the right side of the table, D.put the green block next to the other green block on the wooden board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002587.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.cover the box", "C.put the object on the right side of the table", "D.put the green block next to the other green block on the wooden board" ] }, { "task_id": "0002588", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the switch on the wall, B.remove the spoon from the mug, C.transfer the object from the lower box to the upper bowl, D.put the block in the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002588.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the wall", "B.remove the spoon from the mug", "C.transfer the object from the lower box to the upper bowl", "D.put the block in the drawer" ] }, { "task_id": "0002589", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the mug and put it on the table, B.remove the block from the scale and place it on the table, C.put the rope on the table, D.slide the cloth from the right side of the table to the left side of the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002589.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the mug and put it on the table", "B.remove the block from the scale and place it on the table", "C.put the rope on the table", "D.slide the cloth from the right side of the table to the left side of the table" ] }, { "task_id": "0002590", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.after picking up the cue and striking the pool ball, place the cue on the pool table, B.place the brush on the pen rack, C.take the marker from the table and place it in the white cup, D.pick up the bottle and put it in the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002590.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.after picking up the cue and striking the pool ball, place the cue on the pool table", "B.place the brush on the pen rack", "C.take the marker from the table and place it in the white cup", "D.pick up the bottle and put it in the box" ] }, { "task_id": "0002591", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the tissue box and move it to the right, B.pick up the block on the far right from the desk, C.close the microwave door, D.move the pen from the green cup and put it on the left side of the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002591.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the tissue box and move it to the right", "B.pick up the block on the far right from the desk", "C.close the microwave door", "D.move the pen from the green cup and put it on the left side of the cup" ] }, { "task_id": "0002592", "task": "TrajChoice", "id": "RH20T_cfg6_task_0001_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the object and scrub the inside of the jug, B.put the rope in the box, C.move the cup to the left, D.press the button from top to bottom] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002592.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object and scrub the inside of the jug", "B.put the rope in the box", "C.move the cup to the left", "D.press the button from top to bottom" ] }, { "task_id": "0002593", "task": "TrajChoice", "id": "RH20T_cfg1_task_0118_user_0014_scene_0005_cfg_0001_819112071037#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the switch, B.remove the marker from the cup and put it on the table, C.wipe the table with a white cloth, D.turn on the water tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002593.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the switch", "B.remove the marker from the cup and put it on the table", "C.wipe the table with a white cloth", "D.turn on the water tap" ] }, { "task_id": "0002594", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0012_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the soccer ball into the goal, B.pick up the green toy from the stove and put it in the pot in the sink, C.put the marker into the transparent box on the tabletop, D.take the fork out of the coffee cup and put it on the front left side of the stove] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002594.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.pick up the green toy from the stove and put it in the pot in the sink", "C.put the marker into the transparent box on the tabletop", "D.take the fork out of the coffee cup and put it on the front left side of the stove" ] }, { "task_id": "0002595", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the black plate and pour its contents into the bowl, B.assemble: attach the bubble ring to the ball, C.place the iron upright on the board, D.put the keyboard on the chair] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002595.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the black plate and pour its contents into the bowl", "B.assemble: attach the bubble ring to the ball", "C.place the iron upright on the board", "D.put the keyboard on the chair" ] }, { "task_id": "0002596", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0010_scene_0005_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the water bottle out of the cup holder and place it on the table, B.remove the object from the scale, C.folding the quilt on the bed, D.pour the items from the transparent bowl onto the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002596.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the water bottle out of the cup holder and place it on the table", "B.remove the object from the scale", "C.folding the quilt on the bed", "D.pour the items from the transparent bowl onto the towel" ] }, { "task_id": "0002597", "task": "TrajChoice", "id": "RH20T_cfg1_task_0026_user_0001_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the lid from the counter and put it on the pot, B.open the machine, C.remove the spoon from the transparent box, D.use the gripper to push and close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002597.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid from the counter and put it on the pot", "B.open the machine", "C.remove the spoon from the transparent box", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0002598", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the object in the bowl, B.remove the object from the scale, C.place the yellow object on the tray, D.put the screwdriver in the open drawer then close the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002598.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the bowl", "B.remove the object from the scale", "C.place the yellow object on the tray", "D.put the screwdriver in the open drawer then close the drawer" ] }, { "task_id": "0002599", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0012_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out the things from the container, B.stack the cups together, C.push the soccer ball into the goal, D.open the toaster oven] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002599.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the things from the container", "B.stack the cups together", "C.push the soccer ball into the goal", "D.open the toaster oven" ] }, { "task_id": "0002600", "task": "TrajChoice", "id": "RH20T_cfg1_task_0015_user_0001_scene_0008_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the drawer, B.put the cylindrical block on the green long block, C.turn off the light, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002600.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.put the cylindrical block on the green long block", "C.turn off the light", "D.play the drum" ] }, { "task_id": "0002601", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.catch the ball and then throw it into the shovel, B.put the pen into the pen holder, C.put the lid on the spray bottle, D.move the blue towel forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002601.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.catch the ball and then throw it into the shovel", "B.put the pen into the pen holder", "C.put the lid on the spray bottle", "D.move the blue towel forward" ] }, { "task_id": "0002602", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the object from the scale and place it on the table, B.throw the orange sachet into the paper bag, C.remove the cup from the basin and place it on the table, D.close the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002602.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale and place it on the table", "B.throw the orange sachet into the paper bag", "C.remove the cup from the basin and place it on the table", "D.close the box" ] }, { "task_id": "0002603", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.plug in the power cord to the socket, B.put the pack in the sink, C.open the coffee maker, D.turn the hands of a clock], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002603.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.put the pack in the sink", "C.open the coffee maker", "D.turn the hands of a clock" ] }, { "task_id": "0002604", "task": "TrajChoice", "id": "RH20T_cfg2_task_0052_user_0016_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the stove, B.slide the plastic bottle forward, C.remove the black marker from the blue cup, D.grab a basketball, release it and shoot it into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002604.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the stove", "B.slide the plastic bottle forward", "C.remove the black marker from the blue cup", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0002605", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the object to the television, B.connect the four black pieces together, C.put the object on the shelf, D.put the gray object into the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002605.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the television", "B.connect the four black pieces together", "C.put the object on the shelf", "D.put the gray object into the sink" ] }, { "task_id": "0002606", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the object from the scale, B.take out a white bottle from the box and put it on the table, C.move the bottle to the left, D.rotate the pot counterclockwise], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002606.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.take out a white bottle from the box and put it on the table", "C.move the bottle to the left", "D.rotate the pot counterclockwise" ] }, { "task_id": "0002607", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the blue block in the drawer and close the drawer, B.put the cup on the cup rack, C.use the gripper to push the small block from right to left, D.slide the outer casing onto the gift box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002607.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue block in the drawer and close the drawer", "B.put the cup on the cup rack", "C.use the gripper to push the small block from right to left", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0002608", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0020_scene_0002_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the bottle into the bag, B.move the green cloth, C.pick up a bag of things, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002608.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the bag", "B.move the green cloth", "C.pick up a bag of things", "D.pull out a napkin" ] }, { "task_id": "0002609", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0010_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.plug in the power cord to the socket, B.move the white cup backwards, C.play jenga, D.put the green ball on the desk into the bottle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002609.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.move the white cup backwards", "C.play jenga", "D.put the green ball on the desk into the bottle" ] }, { "task_id": "0002610", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the block on top of the black circle, B.open the left cabinet door, C.put the banana into the box, D.put the marker on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002610.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on top of the black circle", "B.open the left cabinet door", "C.put the banana into the box", "D.put the marker on the table" ] }, { "task_id": "0002611", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0006_cfg_0005_036422060215#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the bottle on the table, B.open the right door to the cupboard on the right, C.put the marker inside the mug cup, D.put the toilet paper on its holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002611.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle on the table", "B.open the right door to the cupboard on the right", "C.put the marker inside the mug cup", "D.put the toilet paper on its holder" ] }, { "task_id": "0002612", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the utensils to the utensil box, B.take the green marker out of the white bowl and put it on the table, C.remove the bubble ring from the assembled bubble ring and ball, D.press the button from top to bottom], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002612.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the utensils to the utensil box", "B.take the green marker out of the white bowl and put it on the table", "C.remove the bubble ring from the assembled bubble ring and ball", "D.press the button from top to bottom" ] }, { "task_id": "0002613", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the cup in the middle of the two plates on the right, B.remove the bubble ring from the assembled bubble ring and ball, C.put the spoon in the mug, D.remove the spoon from the cup and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002613.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the middle of the two plates on the right", "B.remove the bubble ring from the assembled bubble ring and ball", "C.put the spoon in the mug", "D.remove the spoon from the cup and place it on the table" ] }, { "task_id": "0002614", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0012_scene_0002_cfg_0001_750612070853#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the spoon into the box, B.move the bag to the right, move the book slightly backward, pick up the blue object and move it to the right, C.put the lid on the plastic bowl, D.pick up the small block on the left and move it to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002614.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon into the box", "B.move the bag to the right, move the book slightly backward, pick up the blue object and move it to the right", "C.put the lid on the plastic bowl", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0002615", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the water from the transparent bottle into the bowl and place the bowl in the oven, B.move the white object to the left, C.plug in the power cord to the socket, D.moving the plastic container from the shelf to the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002615.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from the transparent bottle into the bowl and place the bowl in the oven", "B.move the white object to the left", "C.plug in the power cord to the socket", "D.moving the plastic container from the shelf to the bowl" ] }, { "task_id": "0002616", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull out the drawer, B.put the pineapple plushy next to the cup, C.move the blocks to the left and then straighten the cloth, D.plug in the power cord to the socket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002616.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out the drawer", "B.put the pineapple plushy next to the cup", "C.move the blocks to the left and then straighten the cloth", "D.plug in the power cord to the socket" ] }, { "task_id": "0002617", "task": "TrajChoice", "id": "RH20T_cfg2_task_0100_user_0007_scene_0009_cfg_0002_036422060215#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.stir the beaker with a glass rod, B.taking out the light bulb by rotating it, C.pick up the orange bowl from the top shelf of the cabinet and put it in the sink. close the door of the top shelf, D.put the brown block in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002617.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stir the beaker with a glass rod", "B.taking out the light bulb by rotating it", "C.pick up the orange bowl from the top shelf of the cabinet and put it in the sink. close the door of the top shelf", "D.put the brown block in the bowl" ] }, { "task_id": "0002618", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.play the drum, C.push the soccer ball into the goal, D.flip over and spread out the paper that is laid flat on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002618.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.play the drum", "C.push the soccer ball into the goal", "D.flip over and spread out the paper that is laid flat on the table" ] }, { "task_id": "0002619", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press a button on the remote, B.move the cup forward, C.turn on the switch on the socket, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002619.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button on the remote", "B.move the cup forward", "C.turn on the switch on the socket", "D.grab the block and place it at the designated location" ] }, { "task_id": "0002620", "task": "TrajChoice", "id": "RH20T_cfg2_task_0103_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the orange object in the bowl, B.drag the plate to the goal post after holding it down, C.turn on the kettle, D.put the yellow cable in the storage box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002620.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange object in the bowl", "B.drag the plate to the goal post after holding it down", "C.turn on the kettle", "D.put the yellow cable in the storage box" ] }, { "task_id": "0002621", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the cup off the cup rack, B.close the cabinet door, C.move the blue cloth from the top left drawer to the top right drawer then put it back in the top right drawer, D.wave the flag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002621.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.close the cabinet door", "C.move the blue cloth from the top left drawer to the top right drawer then put it back in the top right drawer", "D.wave the flag" ] }, { "task_id": "0002622", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.change the position of the book from vertical to horizontal on the shelf, B.unscrew the lid from the jar, C.cover the box, D.push the faucet to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002622.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.change the position of the book from vertical to horizontal on the shelf", "B.unscrew the lid from the jar", "C.cover the box", "D.push the faucet to the left" ] }, { "task_id": "0002624", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0007_scene_0009_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.screw the lid onto the jar, B.place the screwdriver on the left side of the table, C.transfer the toy from the right side of the desk to the left side of the desk, D.move the doll to the right, wipe the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002624.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.place the screwdriver on the left side of the table", "C.transfer the toy from the right side of the desk to the left side of the desk", "D.move the doll to the right, wipe the table" ] }, { "task_id": "0002625", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.insert the tip of a large pipette into the holder for large pipette tips, B.pick up the jar from the front area of the table, move the top of the table, and place it down, C.move the bottle from the table to the cabinet, D.slide the outer casing onto the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002625.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a large pipette into the holder for large pipette tips", "B.pick up the jar from the front area of the table, move the top of the table, and place it down", "C.move the bottle from the table to the cabinet", "D.slide the outer casing onto the gift box" ] }, { "task_id": "0002626", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the tape from the box to the adjacent box, B.press a button from top to bottom with obstacles, C.close the faucet, D.fold the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002626.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tape from the box to the adjacent box", "B.press a button from top to bottom with obstacles", "C.close the faucet", "D.fold the towel" ] }, { "task_id": "0002627", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the toilet paper on its holder, B.put the blue block on top of the orange block, C.put the cube on top of the rectangular block, D.put the spoon in the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002627.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the blue block on top of the orange block", "C.put the cube on top of the rectangular block", "D.put the spoon in the mug" ] }, { "task_id": "0002628", "task": "TrajChoice", "id": "RH20T_cfg5_task_0088_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the clothes rack from the top shelf to the bottom shelf, B.place the small cube to the right side of the box, C.wave the flag, D.remove the grey masking tape from the second shelf and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002628.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clothes rack from the top shelf to the bottom shelf", "B.place the small cube to the right side of the box", "C.wave the flag", "D.remove the grey masking tape from the second shelf and put it on the table" ] }, { "task_id": "0002629", "task": "TrajChoice", "id": "RH20T_cfg2_task_0109_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the strawberry and grapes out of the black box, B.put the doll on the second shelf, C.insert the pencil into the pencil sharpener, D.move the block to the storage box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002629.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the strawberry and grapes out of the black box", "B.put the doll on the second shelf", "C.insert the pencil into the pencil sharpener", "D.move the block to the storage box" ] }, { "task_id": "0002630", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.close the drawer, C.pick up the cloth and place it on the board, D.pick up the lid on the left and place it on the flat-bottomed pan] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002630.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.close the drawer", "C.pick up the cloth and place it on the board", "D.pick up the lid on the left and place it on the flat-bottomed pan" ] }, { "task_id": "0002631", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0007_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the light switch, B.move an object from one box to another, C.move the three bottles to the right, D.use a towel to wipe the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002631.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light switch", "B.move an object from one box to another", "C.move the three bottles to the right", "D.use a towel to wipe the plate" ] }, { "task_id": "0002634", "task": "TrajChoice", "id": "RH20T_cfg5_task_0056_user_0010_scene_0001_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the wooden spatula from the pot and place it in the cutlery holder, B.receive something handed over by a human, C.move the white spoon to the back of the white object, D.turn on the stove overhead light] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002634.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the wooden spatula from the pot and place it in the cutlery holder", "B.receive something handed over by a human", "C.move the white spoon to the back of the white object", "D.turn on the stove overhead light" ] }, { "task_id": "0002635", "task": "TrajChoice", "id": "RH20T_cfg7_task_0001_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the bag on the shelf, B.press the button from top to bottom, C.put the cable in the storage box, D.put the marker on the green towel, then wrap the marker in the towel and put it in the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002635.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag on the shelf", "B.press the button from top to bottom", "C.put the cable in the storage box", "D.put the marker on the green towel, then wrap the marker in the towel and put it in the box" ] }, { "task_id": "0002636", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0017_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the marker on the left side of the table, B.Insert the tip of a medium pipette into the holder for medium pipette tips, C.remove the orange toy from the pot and then cover the pot with the silver lid, D.put the white lid on top of the white pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002636.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the marker on the left side of the table", "B.Insert the tip of a medium pipette into the holder for medium pipette tips", "C.remove the orange toy from the pot and then cover the pot with the silver lid", "D.put the white lid on top of the white pot" ] }, { "task_id": "0002637", "task": "TrajChoice", "id": "RH20T_cfg6_task_0092_user_0020_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the square onto the tray, B.put the plush toy inside the open drawer, C.put the snack into the sink, D.push the pointer to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002637.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the square onto the tray", "B.put the plush toy inside the open drawer", "C.put the snack into the sink", "D.push the pointer to the left" ] }, { "task_id": "0002638", "task": "TrajChoice", "id": "RH20T_cfg2_task_0081_user_0014_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the blue object to the right side of the table, B.unfold the leg of the glasses (with one hand), C.put the lid on the pot, D.move the block on top of the left tower to the right tower], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002638.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the blue object to the right side of the table", "B.unfold the leg of the glasses (with one hand)", "C.put the lid on the pot", "D.move the block on top of the left tower to the right tower" ] }, { "task_id": "0002639", "task": "TrajChoice", "id": "RH20T_cfg2_task_0201_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the wooden block out of the clear container and place it on the table, B.move the white box from the upper shelf of the cabinet and place it on the lower shelf of the cabinet, C.Insert the tip of a medium pipette into the holder for medium pipette tips, D.open the bottom drawer of the filing cabinet on the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002639.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the wooden block out of the clear container and place it on the table", "B.move the white box from the upper shelf of the cabinet and place it on the lower shelf of the cabinet", "C.Insert the tip of a medium pipette into the holder for medium pipette tips", "D.open the bottom drawer of the filing cabinet on the right" ] }, { "task_id": "0002643", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0008_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the blue lego brick in the open drawer then close the drawer, B.move the transparent ring-shaped object from the table and place it on the cylinder, C.take the cup off the cup rack, D.put the pen in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002643.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue lego brick in the open drawer then close the drawer", "B.move the transparent ring-shaped object from the table and place it on the cylinder", "C.take the cup off the cup rack", "D.put the pen in the bowl" ] }, { "task_id": "0002644", "task": "TrajChoice", "id": "RH20T_cfg5_task_0081_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.unfold the leg of the glasses (with one hand), B.fold the black clothes, place the gray fabric on the black clothes, C.pour the fries out of the orange cup and onto the white plate, D.remove the topmost block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002644.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.fold the black clothes, place the gray fabric on the black clothes", "C.pour the fries out of the orange cup and onto the white plate", "D.remove the topmost block" ] }, { "task_id": "0002645", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the first foosball handle from the right inwards, B.remove the object from the scale, C.transfer the toy from the block pile to the bowl, D.transfer the spoon from the table to the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002645.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the first foosball handle from the right inwards", "B.remove the object from the scale", "C.transfer the toy from the block pile to the bowl", "D.transfer the spoon from the table to the drawer" ] }, { "task_id": "0002646", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0003_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the white towel on the countertop, B.play the drum, C.turn off the switch on the power strip, D.press the lever of the toaster], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002646.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the white towel on the countertop", "B.play the drum", "C.turn off the switch on the power strip", "D.press the lever of the toaster" ] }, { "task_id": "0002647", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the tap, B.take the cup off the cup rack, C.move the lid from the right side of the table to the left side of the table, D.move the object to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002647.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the tap", "B.take the cup off the cup rack", "C.move the lid from the right side of the table to the left side of the table", "D.move the object to the table" ] }, { "task_id": "0002648", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0010_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press down on the stapler, B.unscrew the lid from the jar, C.close the drawer, D.move the objects on the table to the windowsill], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002648.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press down on the stapler", "B.unscrew the lid from the jar", "C.close the drawer", "D.move the objects on the table to the windowsill" ] }, { "task_id": "0002649", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0013_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the glasses in the box and cover the box, B.put the marker in the cup, C.press the button from top to bottom, D.pull out a napkin] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002649.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glasses in the box and cover the box", "B.put the marker in the cup", "C.press the button from top to bottom", "D.pull out a napkin" ] }, { "task_id": "0002652", "task": "TrajChoice", "id": "RH20T_cfg7_task_0046_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup on the cup rack, B.pick up the ball on the towel, C.put the lid on the black pot, remove the lid from the black pot, put the lid back on the black pot, D.close the top drawer of the kitchen] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002652.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.pick up the ball on the towel", "C.put the lid on the black pot, remove the lid from the black pot, put the lid back on the black pot", "D.close the top drawer of the kitchen" ] }, { "task_id": "0002653", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the marker to the table, B.open a sliding window, C.turn on the heater, D.the pool ball hitting action] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002653.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the table", "B.open a sliding window", "C.turn on the heater", "D.the pool ball hitting action" ] }, { "task_id": "0002654", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the doll in the pot, B.plug the charger head into the adapter, C.move the bottle on the right side of the desk to the left side of the desk, D.water the plant], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002654.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the doll in the pot", "B.plug the charger head into the adapter", "C.move the bottle on the right side of the desk to the left side of the desk", "D.water the plant" ] }, { "task_id": "0002655", "task": "TrajChoice", "id": "RH20T_cfg4_task_0028_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pressing the switch on the wall will turn on the light, B.slide the towel to the left on the table, C.grasp the handle and close the drawer, D.fold the green cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002655.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the switch on the wall will turn on the light", "B.slide the towel to the left on the table", "C.grasp the handle and close the drawer", "D.fold the green cloth" ] }, { "task_id": "0002656", "task": "TrajChoice", "id": "RH20T_cfg2_task_0079_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the ring on the table to the target position, B.open the box lid and place it on the right side of the table, C.push the sliding door to the closed position, D.open the microwave door] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002656.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the table to the target position", "B.open the box lid and place it on the right side of the table", "C.push the sliding door to the closed position", "D.open the microwave door" ] }, { "task_id": "0002657", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0006_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the cup on the table upright, B.water the plant, C.press the stapler, D.insert the pencil into the pencil sharpener], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002657.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup on the table upright", "B.water the plant", "C.press the stapler", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0002658", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0001_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wipe the wall with the white towel, B.Place the flyswatter on the marked point, C.put the jar on the plate, D.use the gripper to push the small block from left to right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002658.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the wall with the white towel", "B.Place the flyswatter on the marked point", "C.put the jar on the plate", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0002659", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the hands of a clock, B.put the white bottle on the shelf, C.take the pen out of the cup and put it on the table, D.move the bowl to the right side] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002659.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.put the white bottle on the shelf", "C.take the pen out of the cup and put it on the table", "D.move the bowl to the right side" ] }, { "task_id": "0002660", "task": "TrajChoice", "id": "RH20T_cfg6_task_0078_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.close the top drawer of the file cabinet, B.put the clothes on the back rest of the chair into the box, C.close the microwave door, D.put the pen in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002660.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the file cabinet", "B.put the clothes on the back rest of the chair into the box", "C.close the microwave door", "D.put the pen in the mug" ] }, { "task_id": "0002661", "task": "TrajChoice", "id": "RH20T_cfg4_task_0202_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the green object from the table and put it in the bowl, B.insert the tip of a small pipette into the holder for small pipette tips, C.pick up the small block on the left and move it to the right, D.put the toy car on the black object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002661.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green object from the table and put it in the bowl", "B.insert the tip of a small pipette into the holder for small pipette tips", "C.pick up the small block on the left and move it to the right", "D.put the toy car on the black object" ] }, { "task_id": "0002662", "task": "TrajChoice", "id": "RH20T_cfg2_task_0214_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the plate on the pillow, B.put the blue cup in the black bowl, C.move the marker to the left, D.chop the pakchoi], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002662.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plate on the pillow", "B.put the blue cup in the black bowl", "C.move the marker to the left", "D.chop the pakchoi" ] }, { "task_id": "0002663", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take a book from the box and make it stand on the table, B.pulling open the drawer, C.open the microwave door, D.put the purple bowl on the yellow plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002663.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take a book from the box and make it stand on the table", "B.pulling open the drawer", "C.open the microwave door", "D.put the purple bowl on the yellow plate" ] }, { "task_id": "0002664", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0015_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the kettle from the left edge of the table to the right side of the table, B.press the top left button on the keyboard, C.push an object with obstacles, D.transfer the black pen from the cup to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002664.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the kettle from the left edge of the table to the right side of the table", "B.press the top left button on the keyboard", "C.push an object with obstacles", "D.transfer the black pen from the cup to the table" ] }, { "task_id": "0002665", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0015_scene_0002_cfg_0004_038522062288#399", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the towel off the pole and throw it into the sink, B.place the toaster upright, C.put the lid on the pot, D.push an object with obstacles] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002665.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the towel off the pole and throw it into the sink", "B.place the toaster upright", "C.put the lid on the pot", "D.push an object with obstacles" ] }, { "task_id": "0002666", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0010_scene_0006_cfg_0005_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the object with the corresponding shape into the corresponding hole, B.open the microwave door, C.turn off the light, D.take out a Hanoi block and throw it aside] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002666.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object with the corresponding shape into the corresponding hole", "B.open the microwave door", "C.turn off the light", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0002667", "task": "TrajChoice", "id": "RH20T_cfg6_task_0091_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the things in the drawer, B.push the blue towel down on the table, C.move an object from one box to another, D.transfer the marker from the table to the grey bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002667.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer", "B.push the blue towel down on the table", "C.move an object from one box to another", "D.transfer the marker from the table to the grey bowl" ] }, { "task_id": "0002668", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the cup off the cup rack, B.press the bread machine lever, C.put the red block next to the small block, D.Grasp one block to sweep the other block onto the mark] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002668.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.press the bread machine lever", "C.put the red block next to the small block", "D.Grasp one block to sweep the other block onto the mark" ] }, { "task_id": "0002669", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use a towel to wipe the counter, B.put the blue cap on top of the black one in the drawer, C.pick up the small block on the left and move it to the right, D.put the plates and bowls on the table onto the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002669.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the counter", "B.put the blue cap on top of the black one in the drawer", "C.pick up the small block on the left and move it to the right", "D.put the plates and bowls on the table onto the plate" ] }, { "task_id": "0002670", "task": "TrajChoice", "id": "RH20T_cfg6_task_0025_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.unfold a piece of paper that has been folded in half once with one end pressed down by a weight, B.turn off the power strip by pressing the button, C.push down the lever, D.pick up the blue cloth and put it on the counter], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002670.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded in half once with one end pressed down by a weight", "B.turn off the power strip by pressing the button", "C.push down the lever", "D.pick up the blue cloth and put it on the counter" ] }, { "task_id": "0002671", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.assemble: attach the bubble ring to the ball, B.move the white bottle to the left of the white spoon, C.open the drawer, D.pick up the knife from the yellow plate and put it in the knife holder on the dish rack] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002671.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.move the white bottle to the left of the white spoon", "C.open the drawer", "D.pick up the knife from the yellow plate and put it in the knife holder on the dish rack" ] }, { "task_id": "0002672", "task": "TrajChoice", "id": "RH20T_cfg4_task_0127_user_0010_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use a spoon to stir the bowl, B.push the pen to the right side of the table, C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, D.close the cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002672.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a spoon to stir the bowl", "B.push the pen to the right side of the table", "C.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "D.close the cabinet door" ] }, { "task_id": "0002673", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the green object from the sink to the left counter, B.take the marker out of the mug and put it on the table, C.rotate the steering wheel 90 degrees clockwise, D.place some markers into the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002673.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green object from the sink to the left counter", "B.take the marker out of the mug and put it on the table", "C.rotate the steering wheel 90 degrees clockwise", "D.place some markers into the box" ] }, { "task_id": "0002674", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open a box, B.close the open drawer, C.move the charger to the left side of the table, D.open the top kitchen cabinet door to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002674.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.close the open drawer", "C.move the charger to the left side of the table", "D.open the top kitchen cabinet door to the right" ] }, { "task_id": "0002675", "task": "TrajChoice", "id": "RH20T_cfg2_task_0010_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the yellow block inside the blue cup, B.put the marker in the mug, C.detach an orange disc from the wooden rack and put it on the table, D.place the handset of the telephone on the corresponding phone cradle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002675.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the yellow block inside the blue cup", "B.put the marker in the mug", "C.detach an orange disc from the wooden rack and put it on the table", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0002676", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0010_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.scrubbing the table with a brush, B.take the keyboard from the chair to the table, C.move the spoon from the orange cup to the orange bowl, D.a paper ball thrown into the trash can], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002676.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scrubbing the table with a brush", "B.take the keyboard from the chair to the table", "C.move the spoon from the orange cup to the orange bowl", "D.a paper ball thrown into the trash can" ] }, { "task_id": "0002677", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the object to the table, B.put the clothes hangers on the upper drying rod, C.pick up a small block, D.wipe the black object with the towel and put the towel in the plate] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002677.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the table", "B.put the clothes hangers on the upper drying rod", "C.pick up a small block", "D.wipe the black object with the towel and put the towel in the plate" ] }, { "task_id": "0002678", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the shaker from the bowl and put it on the table, B.turn the knob to decrease the volume of the speaker, C.open a box, D.pick the bottles from the counter and put them in the box] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002678.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the shaker from the bowl and put it on the table", "B.turn the knob to decrease the volume of the speaker", "C.open a box", "D.pick the bottles from the counter and put them in the box" ] }, { "task_id": "0002679", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the grey cup to the back left, B.pour the contents in the orange cup into the green bowl, C.push the soccer ball into the goal, D.place the green block in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002679.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the grey cup to the back left", "B.pour the contents in the orange cup into the green bowl", "C.push the soccer ball into the goal", "D.place the green block in the bowl" ] }, { "task_id": "0002680", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.pick up the blue bottle and place it on the left. then pick up the small bottle with a blue cap and place it on the left, C.adjust the volume of the speaker by turning the knob, D.pour some of the contents from the kettle into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002680.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.pick up the blue bottle and place it on the left. then pick up the small bottle with a blue cap and place it on the left", "C.adjust the volume of the speaker by turning the knob", "D.pour some of the contents from the kettle into the bowl" ] }, { "task_id": "0002681", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the marker in the pot, B.put the knife on the countertop inside the box in the drawer, C.push the soccer ball into the goal, D.put the yellow cable in the tool box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002681.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the pot", "B.put the knife on the countertop inside the box in the drawer", "C.push the soccer ball into the goal", "D.put the yellow cable in the tool box" ] }, { "task_id": "0002682", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the small block on the right and move it to the left, B.stir the contents of the green bowl on the plate with a big spoon and then put it back on the table, C.pull out a napkin, D.put the green block in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002682.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it to the left", "B.stir the contents of the green bowl on the plate with a big spoon and then put it back on the table", "C.pull out a napkin", "D.put the green block in the bowl" ] }, { "task_id": "0002683", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick the bowl and put it in the sink, B.move the object to the right side of the table, C.remove the object from the scale, D.turn on the light string], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002683.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the bowl and put it in the sink", "B.move the object to the right side of the table", "C.remove the object from the scale", "D.turn on the light string" ] }, { "task_id": "0002684", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stacking cups, B.press a button from top to bottom with obstacles, C.pour the contents of the white pot into the adjacent black pot, D.place the top block on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002684.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking cups", "B.press a button from top to bottom with obstacles", "C.pour the contents of the white pot into the adjacent black pot", "D.place the top block on the table" ] }, { "task_id": "0002685", "task": "TrajChoice", "id": "RH20T_cfg6_task_0045_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the brush on the pen rack, B.pull out a napkin, C.put the small wooden cylinder on the big wooden cylinder, D.drop down the switch button] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002685.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.pull out a napkin", "C.put the small wooden cylinder on the big wooden cylinder", "D.drop down the switch button" ] }, { "task_id": "0002686", "task": "TrajChoice", "id": "RH20T_cfg6_task_0007_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the box lid, B.close the drawer, C.holding a small block with the gripper and sweeping it from left to right on the table, D.move the bowl to the center of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002686.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the box lid", "B.close the drawer", "C.holding a small block with the gripper and sweeping it from left to right on the table", "D.move the bowl to the center of the table" ] }, { "task_id": "0002687", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the block from the table to the block, B.put the object on the shelf, C.put the bowl on the lid, D.move the red bowl on the left side of the table to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002687.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the block from the table to the block", "B.put the object on the shelf", "C.put the bowl on the lid", "D.move the red bowl on the left side of the table to the right side of the table" ] }, { "task_id": "0002689", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the plate to the designated position, B.turn the knob to decrease the volume of the speaker, C.put the cloth on the hanger, D.pour the contents of the green cup onto the gray plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002689.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plate to the designated position", "B.turn the knob to decrease the volume of the speaker", "C.put the cloth on the hanger", "D.pour the contents of the green cup onto the gray plate" ] }, { "task_id": "0002690", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.cover the pot with the lid, C.wipe the table with the towel, D.turn on the water tap to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002690.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.cover the pot with the lid", "C.wipe the table with the towel", "D.turn on the water tap to the right" ] }, { "task_id": "0002691", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the knob to increase the volume of the speaker, B.move the mug to the left, C.move the cup lid near the edge of the tabletop upward to the right side, and then place the packaging bag into the left cup lid, D.cover the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002691.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.move the mug to the left", "C.move the cup lid near the edge of the tabletop upward to the right side, and then place the packaging bag into the left cup lid", "D.cover the pot" ] }, { "task_id": "0002692", "task": "TrajChoice", "id": "RH20T_cfg4_task_0053_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.play the drum, B.place the orange pack inside the open drawer, then take the pack out of the drawer and put it on the countertop, C.wipe the kitchen countertop, D.use a clamp], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002692.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.place the orange pack inside the open drawer, then take the pack out of the drawer and put it on the countertop", "C.wipe the kitchen countertop", "D.use a clamp" ] }, { "task_id": "0002693", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the marker from the mug, B.move the silver bowl to the left, C.put the bottle into the trash can, D.put the object on the shelf], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002693.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.move the silver bowl to the left", "C.put the bottle into the trash can", "D.put the object on the shelf" ] }, { "task_id": "0002695", "task": "TrajChoice", "id": "RH20T_cfg1_task_0072_user_0010_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press a button horizontally, B.pour the contents in the jug into the red bowl, C.moving the coin from the table to above the piggy bank, D.pick up the object from the cup and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002695.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally", "B.pour the contents in the jug into the red bowl", "C.moving the coin from the table to above the piggy bank", "D.pick up the object from the cup and place it on the table" ] }, { "task_id": "0002696", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the bottom left drawer of the cabinet, B.put the black lid on the rice cooker, C.remove the ball from the scale and place it on the table, D.move the bottle on the table to the left side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002696.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom left drawer of the cabinet", "B.put the black lid on the rice cooker", "C.remove the ball from the scale and place it on the table", "D.move the bottle on the table to the left side" ] }, { "task_id": "0002697", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button on the cabinet door horizontally, B.put the tissue roll on the tissue holder, C.pick up and place an object with obstacles, D.remove the cloth from the glass and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002697.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the cabinet door horizontally", "B.put the tissue roll on the tissue holder", "C.pick up and place an object with obstacles", "D.remove the cloth from the glass and put it on the table" ] }, { "task_id": "0002698", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.plug in the bulb holder to the socket, B.pour the contents of the orange cup onto the plate, C.put the blue bowl on the dishrack, D.move the cup and the bowl to the designated position], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002698.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.pour the contents of the orange cup onto the plate", "C.put the blue bowl on the dishrack", "D.move the cup and the bowl to the designated position" ] }, { "task_id": "0002699", "task": "TrajChoice", "id": "RH20T_cfg6_task_0011_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold a piece of paper that has been folded once with one end pressed down by a heavy object, B.water the plant, C.fold the white and red towel in half, D.pour the contents of the cup into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002699.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold a piece of paper that has been folded once with one end pressed down by a heavy object", "B.water the plant", "C.fold the white and red towel in half", "D.pour the contents of the cup into the bowl" ] }, { "task_id": "0002700", "task": "TrajChoice", "id": "RH20T_cfg1_task_0018_user_0001_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the bottle in the first layer of the storage basket, B.play jenga, C.push the box, D.move the little bear plush toy to the towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002700.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bottle in the first layer of the storage basket", "B.play jenga", "C.push the box", "D.move the little bear plush toy to the towel" ] }, { "task_id": "0002701", "task": "TrajChoice", "id": "RH20T_cfg4_task_0019_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the cloth, put down the cloth, B.put the cup in the bowl, C.pick up the purple plush toy from the silver object and put it on the counter, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002701.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth, put down the cloth", "B.put the cup in the bowl", "C.pick up the purple plush toy from the silver object and put it on the counter", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0002702", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0008_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the blue toy slightly toward left, B.grasping the moving object, C.place the ring on the table, D.move the cup to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002702.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue toy slightly toward left", "B.grasping the moving object", "C.place the ring on the table", "D.move the cup to the left" ] }, { "task_id": "0002703", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a bag of things, B.put the red marker from the cup on the table, C.press the lever of the toaster, D.put the plate on the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002703.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.put the red marker from the cup on the table", "C.press the lever of the toaster", "D.put the plate on the box" ] }, { "task_id": "0002704", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the bottom drawer of the cabinet to the left, B.place the object into the sink, C.press the second button on the left, D.take the toy from the towel and place it on the armrest of the sofa] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002704.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the bottom drawer of the cabinet to the left", "B.place the object into the sink", "C.press the second button on the left", "D.take the toy from the towel and place it on the armrest of the sofa" ] }, { "task_id": "0002705", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toy on the green block, B.put the marker in the cup, C.pick up the pen from the mug and put it on the table, D.use the gripper to push the small block from left to right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002705.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy on the green block", "B.put the marker in the cup", "C.pick up the pen from the mug and put it on the table", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0002706", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the glass lid forwards, B.put the green object into the bowl, C.put the things in the drawer and close the drawer, D.press the machine switch], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002706.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the glass lid forwards", "B.put the green object into the bowl", "C.put the things in the drawer and close the drawer", "D.press the machine switch" ] }, { "task_id": "0002707", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0003_cfg_0002_105422061350#597", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.grab the block and place it at the designated location, B.stacking cups, C.put the things in the drawer and close the drawer, D.take out the bag and the plastic container from the box and then put them on the countertop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002707.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.stacking cups", "C.put the things in the drawer and close the drawer", "D.take out the bag and the plastic container from the box and then put them on the countertop" ] }, { "task_id": "0002708", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use the towel to wipe the countertop, B.put the container on the bottom shelf of the cupboard, C.turning on the water tap, D.remove the packet from the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002708.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the countertop", "B.put the container on the bottom shelf of the cupboard", "C.turning on the water tap", "D.remove the packet from the box" ] }, { "task_id": "0002709", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0002_scene_0006_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull out a napkin, B.swat with a flyswatter, C.use a yellow towel to wipe the table, D.take the green pen out of the white mug and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002709.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.swat with a flyswatter", "C.use a yellow towel to wipe the table", "D.take the green pen out of the white mug and put it on the table" ] }, { "task_id": "0002710", "task": "TrajChoice", "id": "RH20T_cfg2_task_0011_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the white cloth, wipe the pan, and put down the white cloth, B.put the orange toy in the pot in the sink, C.rotate the steering wheel 90 degrees clockwise, D.water the plant] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002710.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white cloth, wipe the pan, and put down the white cloth", "B.put the orange toy in the pot in the sink", "C.rotate the steering wheel 90 degrees clockwise", "D.water the plant" ] }, { "task_id": "0002711", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0014_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.flip over and spread out the paper that is laid flat on the table, B.put the cube into the bowl, C.pull the cable on the pillow, D.place the aluminum can on the white base] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002711.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over and spread out the paper that is laid flat on the table", "B.put the cube into the bowl", "C.pull the cable on the pillow", "D.place the aluminum can on the white base" ] }, { "task_id": "0002712", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the lower drawer of the file cabinet, B.take the marker out of the mug and put it on the table, C.push the block to the left on the desk, D.pick the marker from the cup and put it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002712.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the lower drawer of the file cabinet", "B.take the marker out of the mug and put it on the table", "C.push the block to the left on the desk", "D.pick the marker from the cup and put it on the table" ] }, { "task_id": "0002713", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasp the handle and open the drawer, B.remove the packet of doritos from the sink and place it on the countertop, C.push the block, D.move the object and the toy to the designated location], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002713.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.remove the packet of doritos from the sink and place it on the countertop", "C.push the block", "D.move the object and the toy to the designated location" ] }, { "task_id": "0002714", "task": "TrajChoice", "id": "RH20T_cfg6_task_0046_user_0020_scene_0008_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the green object from the plate, B.transfer the chopsticks from the box on the right side of the table to the box on the left side of the table, C.place a clear lid in the open upper cabinet, D.put the cup on the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002714.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green object from the plate", "B.transfer the chopsticks from the box on the right side of the table to the box on the left side of the table", "C.place a clear lid in the open upper cabinet", "D.put the cup on the cup rack" ] }, { "task_id": "0002715", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the hanger on the bottom shelf, B.place the block on the scale, C.pick up the marker from the cup and put it on the table, D.pick up the salt cellar and put it in the pot], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002715.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the hanger on the bottom shelf", "B.place the block on the scale", "C.pick up the marker from the cup and put it on the table", "D.pick up the salt cellar and put it in the pot" ] }, { "task_id": "0002716", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the block on the scale, B.move the green cup to the right side of the table, C.put the marker inside the mug cup, D.take the pen out of the bowl and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002716.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.move the green cup to the right side of the table", "C.put the marker inside the mug cup", "D.take the pen out of the bowl and put it on the table" ] }, { "task_id": "0002717", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0001_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the bin, B.place the lid back on the coffee jar, C.put the paper in the bin, D.turn on the desk lamp by pressing the button] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002717.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bin", "B.place the lid back on the coffee jar", "C.put the paper in the bin", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0002718", "task": "TrajChoice", "id": "RH20T_cfg7_task_0035_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.throw the cube onto the table, B.pick up a small block, C.put the white paper bag into the box, D.stir the beaker with a spoon] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002718.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the cube onto the table", "B.pick up a small block", "C.put the white paper bag into the box", "D.stir the beaker with a spoon" ] }, { "task_id": "0002719", "task": "TrajChoice", "id": "RH20T_cfg1_task_0051_user_0010_scene_0010_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.operating the objects on the table, B.put the Coca Cola bottle on top of the microwave, C.take the dish off the dish rack, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002719.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.operating the objects on the table", "B.put the Coca Cola bottle on top of the microwave", "C.take the dish off the dish rack", "D.play the drum" ] }, { "task_id": "0002720", "task": "TrajChoice", "id": "RH20T_cfg2_task_0086_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.dialing a number on an old rotary phone, B.pick the cup and put it in the drawer, C.turn off the extension cord, D.turn off the electric kettle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002720.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.dialing a number on an old rotary phone", "B.pick the cup and put it in the drawer", "C.turn off the extension cord", "D.turn off the electric kettle" ] }, { "task_id": "0002721", "task": "TrajChoice", "id": "RH20T_cfg2_task_0029_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open a sliding window, B.assemble: attach the bubble ring to the ball, C.push the black Lego block directly above the Lego baseplate, D.open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002721.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.assemble: attach the bubble ring to the ball", "C.push the black Lego block directly above the Lego baseplate", "D.open the drawer" ] }, { "task_id": "0002722", "task": "TrajChoice", "id": "RH20T_cfg3_task_0088_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the blue cup on the shelf, B.put the pillow on the sofa and then press the air conditioning button, C.pick up and place an object with obstacles, D.putting the screwdriver on the blue tin, it rolled to the windowsill], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002722.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue cup on the shelf", "B.put the pillow on the sofa and then press the air conditioning button", "C.pick up and place an object with obstacles", "D.putting the screwdriver on the blue tin, it rolled to the windowsill" ] }, { "task_id": "0002723", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.play the drum, B.push the top drawer closed, C.grab the block and place it at the designated location, D.move the cup from the sink to the rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002723.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.push the top drawer closed", "C.grab the block and place it at the designated location", "D.move the cup from the sink to the rack" ] }, { "task_id": "0002724", "task": "TrajChoice", "id": "RH20T_cfg6_task_0205_user_0007_scene_0005_cfg_0006_104122061330#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the tape to the right side of the table, B.chop the scallions, C.put the cup on the oven, D.put the black square in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002724.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the tape to the right side of the table", "B.chop the scallions", "C.put the cup on the oven", "D.put the black square in the bowl" ] }, { "task_id": "0002725", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the glass lid from the black pot, B.pick up the lid from the countertop and put it on the pressure cooker, C.place the block at the marked location, D.open the door of the upper cabinet], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002725.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the glass lid from the black pot", "B.pick up the lid from the countertop and put it on the pressure cooker", "C.place the block at the marked location", "D.open the door of the upper cabinet" ] }, { "task_id": "0002726", "task": "TrajChoice", "id": "RH20T_cfg1_task_0116_user_0015_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the wardrobe door, B.put the knife on the knife rack, C.use the correction tape on paper, D.press the lid above the coffee chamber] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002726.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the wardrobe door", "B.put the knife on the knife rack", "C.use the correction tape on paper", "D.press the lid above the coffee chamber" ] }, { "task_id": "0002727", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open a box, B.pick up the crayon from the box and put it on the table, C.push the silver pot to the right, D.pick up the can and place it in the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002727.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.pick up the crayon from the box and put it on the table", "C.push the silver pot to the right", "D.pick up the can and place it in the box" ] }, { "task_id": "0002728", "task": "TrajChoice", "id": "RH20T_cfg4_task_0011_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.water the plant, B.push the drawer handle to close the drawer, C.throw the pants into the box, D.wiping the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002728.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.push the drawer handle to close the drawer", "C.throw the pants into the box", "D.wiping the table" ] }, { "task_id": "0002729", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the cloth on the table forward, B.put the lid on the kettle, C.take out a Hanoi block and throw it aside, D.remove the object from the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002729.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cloth on the table forward", "B.put the lid on the kettle", "C.take out a Hanoi block and throw it aside", "D.remove the object from the scale" ] }, { "task_id": "0002730", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the small ball on the tray, B.put the bottle into the bag, C.rotate the steering wheel 90 degrees clockwise, D.put the ring on the pole] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002730.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small ball on the tray", "B.put the bottle into the bag", "C.rotate the steering wheel 90 degrees clockwise", "D.put the ring on the pole" ] }, { "task_id": "0002732", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the plate to the right side of the table, B.put the metal can into the cupboard, C.place the handset of the telephone on the corresponding phone cradle, D.remove the spoon from the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002732.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the plate to the right side of the table", "B.put the metal can into the cupboard", "C.place the handset of the telephone on the corresponding phone cradle", "D.remove the spoon from the bowl" ] }, { "task_id": "0002733", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.unscrew the lid from the jar, B.turn off the third switch from you on the adapter, C.grasp the handle and open the drawer, D.clean the table with a cloth], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002733.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.turn off the third switch from you on the adapter", "C.grasp the handle and open the drawer", "D.clean the table with a cloth" ] }, { "task_id": "0002734", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the spoon on the glass bottle, B.remove the toy from the sink and put it on the object, C.remove the yellow block from the lunchbox, D.open a sliding window] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002734.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the glass bottle", "B.remove the toy from the sink and put it on the object", "C.remove the yellow block from the lunchbox", "D.open a sliding window" ] }, { "task_id": "0002735", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.cover the box, B.move the cup to the right side, C.pick up the bottle and move it to the left of the table, D.put the garbage in the trash can], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002735.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the box", "B.move the cup to the right side", "C.pick up the bottle and move it to the left of the table", "D.put the garbage in the trash can" ] }, { "task_id": "0002736", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the knob to decrease the volume of the speaker, B.push the faucet to the right, C.put the drink on the table into the cabinet, D.use the orange eraser to wipe the bottom right corner of the whiteboard], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002736.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.push the faucet to the right", "C.put the drink on the table into the cabinet", "D.use the orange eraser to wipe the bottom right corner of the whiteboard" ] }, { "task_id": "0002737", "task": "TrajChoice", "id": "RH20T_cfg1_task_0026_user_0001_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the faucet to the left, B.pick up the lid and put it on the pot, C.move the bottle to the left, D.use the gripper to push and close the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002737.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the faucet to the left", "B.pick up the lid and put it on the pot", "C.move the bottle to the left", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0002738", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the cloth on the wooden board, B.plug in the bulb holder to the socket, C.close a sliding window, D.place the towel on the rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002738.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cloth on the wooden board", "B.plug in the bulb holder to the socket", "C.close a sliding window", "D.place the towel on the rack" ] }, { "task_id": "0002739", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.sliding a towel on the table, C.assemble one piece of a puzzle, D.press the second switch from the right of the power socket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002739.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.sliding a towel on the table", "C.assemble one piece of a puzzle", "D.press the second switch from the right of the power socket" ] }, { "task_id": "0002740", "task": "TrajChoice", "id": "RH20T_cfg1_task_0060_user_0014_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.hang the headphones behind the monitor, B.folding clothes on the rack, and then moving the clothes from the top layer of the rack to the second layer, C.hang the tongs on the rack, D.turn the knob to decrease the volume of the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002740.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the headphones behind the monitor", "B.folding clothes on the rack, and then moving the clothes from the top layer of the rack to the second layer", "C.hang the tongs on the rack", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0002741", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the grey towel to the right, B.pick the marker from the table and put it in the bowl, C.remove the bubble ring from the assembled bubble ring and ball, D.turn the kettle clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002741.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the grey towel to the right", "B.pick the marker from the table and put it in the bowl", "C.remove the bubble ring from the assembled bubble ring and ball", "D.turn the kettle clockwise" ] }, { "task_id": "0002742", "task": "TrajChoice", "id": "RH20T_cfg4_task_0111_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the socket and move it slightly, B.pick the marker and put it in the cup, C.put the marker in the silver bowl, D.put the object with the corresponding shape into the corresponding hole], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002742.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the socket and move it slightly", "B.pick the marker and put it in the cup", "C.put the marker in the silver bowl", "D.put the object with the corresponding shape into the corresponding hole" ] }, { "task_id": "0002743", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the grey shaker inside the red bowl, B.move the lid from the pot to the table, C.place the block on the scale, D.move the sharpie to the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002743.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the grey shaker inside the red bowl", "B.move the lid from the pot to the table", "C.place the block on the scale", "D.move the sharpie to the table" ] }, { "task_id": "0002744", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the towel and wipe the plate, B.pull the paper cup to stand, C.use the gripper to push the small block from left to right, D.move the cap to the tray] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002744.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the towel and wipe the plate", "B.pull the paper cup to stand", "C.use the gripper to push the small block from left to right", "D.move the cap to the tray" ] }, { "task_id": "0002745", "task": "TrajChoice", "id": "RH20T_cfg1_task_0071_user_0010_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the left plate on the right plate, B.move the cup to the left side of the table, C.close a sliding window, D.pick the red object and drop it in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002745.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the left plate on the right plate", "B.move the cup to the left side of the table", "C.close a sliding window", "D.pick the red object and drop it in the sink" ] }, { "task_id": "0002746", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the small cube, B.put the charger head on the slot on the extension cord, C.put the black marker in the pot, D.move the tap nozzle to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002746.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small cube", "B.put the charger head on the slot on the extension cord", "C.put the black marker in the pot", "D.move the tap nozzle to the left" ] }, { "task_id": "0002747", "task": "TrajChoice", "id": "RH20T_cfg4_task_0202_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick the carrot and put it on the pan, B.insert the tip of a small pipette into the holder for small pipette tips, C.move the cup to the right on the table, D.put the spoon on the right side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002747.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the carrot and put it on the pan", "B.insert the tip of a small pipette into the holder for small pipette tips", "C.move the cup to the right on the table", "D.put the spoon on the right side of the table" ] }, { "task_id": "0002748", "task": "TrajChoice", "id": "RH20T_cfg4_task_0116_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use the correction tape on the paper, B.put the garbage in the trash can, C.put the bottle on the second shelf, D.open the tap then close it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002748.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the correction tape on the paper", "B.put the garbage in the trash can", "C.put the bottle on the second shelf", "D.open the tap then close it" ] }, { "task_id": "0002749", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the donut into the box, B.wipe the stain on the desktop with a green cloth, C.run water over the green bottle, D.move the mug slightly], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002749.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the donut into the box", "B.wipe the stain on the desktop with a green cloth", "C.run water over the green bottle", "D.move the mug slightly" ] }, { "task_id": "0002751", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up and place an object with obstacles, B.put the marker on the table, C.move the magazine to the table, D.move the napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002751.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.put the marker on the table", "C.move the magazine to the table", "D.move the napkin" ] }, { "task_id": "0002752", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the string in the slot on the object, B.use the white towel to push the objects on the table to the left, then put the towel in the bowl, C.put the silver lid on the silver tin, D.scoop water with a large spoon from one bowl to another] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002752.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the string in the slot on the object", "B.use the white towel to push the objects on the table to the left, then put the towel in the bowl", "C.put the silver lid on the silver tin", "D.scoop water with a large spoon from one bowl to another" ] }, { "task_id": "0002755", "task": "TrajChoice", "id": "RH20T_cfg1_task_0042_user_0016_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the microwave button, B.pull the carton box from under the drawer, C.screw the lid onto the jar (needs to be twisted), D.remove the pen from the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002755.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the microwave button", "B.pull the carton box from under the drawer", "C.screw the lid onto the jar (needs to be twisted)", "D.remove the pen from the cup" ] }, { "task_id": "0002756", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the bowl, B.drop a coin into the piggy bank, C.turn the faucet counterclockwise, D.put the yellow block on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002756.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl", "B.drop a coin into the piggy bank", "C.turn the faucet counterclockwise", "D.put the yellow block on the table" ] }, { "task_id": "0002757", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.hang the white cloth on the black stand, B.put the tissue into the bowl, C.move the small block on the desktop to the left, D.move the remote control from the gap of the sofa to the sofa cushion] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002757.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hang the white cloth on the black stand", "B.put the tissue into the bowl", "C.move the small block on the desktop to the left", "D.move the remote control from the gap of the sofa to the sofa cushion" ] }, { "task_id": "0002758", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the pot cover, B.pull the black object to the bottom of the table, C.transfer the lid from the pot to the rack, D.grasp the handle and open the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002758.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pot cover", "B.pull the black object to the bottom of the table", "C.transfer the lid from the pot to the rack", "D.grasp the handle and open the drawer" ] }, { "task_id": "0002759", "task": "TrajChoice", "id": "RH20T_cfg6_task_0206_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the contents of the bowl onto the towel, B.cut the green onions, C.close the sliding window, D.remove the marker from the box and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002759.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl onto the towel", "B.cut the green onions", "C.close the sliding window", "D.remove the marker from the box and put it on the table" ] }, { "task_id": "0002760", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.transfer the object from the cabinet to the top of the cabinet, B.place the tray on the top of the coffee machine, C.wiping the table with a towel, D.grab the block and place it at the designated location], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002760.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the cabinet to the top of the cabinet", "B.place the tray on the top of the coffee machine", "C.wiping the table with a towel", "D.grab the block and place it at the designated location" ] }, { "task_id": "0002761", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the kettle forward on the desk, B.push the towel to the right side of the table, C.place the brush on the pen rack, D.swat with a flyswatter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002761.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the kettle forward on the desk", "B.push the towel to the right side of the table", "C.place the brush on the pen rack", "D.swat with a flyswatter" ] }, { "task_id": "0002762", "task": "TrajChoice", "id": "RH20T_cfg6_task_0001_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.wipe the counter with the sponge, B.put the gray tape in the black bowl, C.press the button from top to bottom, D.put the remote control on the quilt, spread the quilt], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002762.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the counter with the sponge", "B.put the gray tape in the black bowl", "C.press the button from top to bottom", "D.put the remote control on the quilt, spread the quilt" ] }, { "task_id": "0002763", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the machine, B.cover the pot with the lid, C.press the button horizontally, D.pick up the shoe from the silver shelf counting down from the first layer, move to the silver shelf counting down from the second layer, then put it down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002763.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the machine", "B.cover the pot with the lid", "C.press the button horizontally", "D.pick up the shoe from the silver shelf counting down from the first layer, move to the silver shelf counting down from the second layer, then put it down" ] }, { "task_id": "0002764", "task": "TrajChoice", "id": "RH20T_cfg7_task_0033_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white cup upright, put the toys in the green bowl, B.move the paper cup from the refrigerator to the side door of the refrigerator, C.pick up the marker from the cup and put it on the table, D.grasp a block to sweep the other block into the designated position], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002764.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cup upright, put the toys in the green bowl", "B.move the paper cup from the refrigerator to the side door of the refrigerator", "C.pick up the marker from the cup and put it on the table", "D.grasp a block to sweep the other block into the designated position" ] }, { "task_id": "0002765", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the blue cup to the top of the shelves, B.push the soccer ball into the goal, C.take the hanger into the drawer, D.take the marker out of the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002765.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue cup to the top of the shelves", "B.push the soccer ball into the goal", "C.take the hanger into the drawer", "D.take the marker out of the cup and put it on the table" ] }, { "task_id": "0002766", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wipe the table with a towel, B.put the cable in the storage box, C.move the plush toy closer to the green rag, D.move the salt cellar to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002766.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with a towel", "B.put the cable in the storage box", "C.move the plush toy closer to the green rag", "D.move the salt cellar to the left" ] }, { "task_id": "0002767", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the black cloth out of the basket and hang it on the back of the white chair, B.take the roll of paper down from the shelf, C.the cobalt blue block is moved from the table to the stack of blocks , D.open a box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002767.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the black cloth out of the basket and hang it on the back of the white chair", "B.take the roll of paper down from the shelf", "C.the cobalt blue block is moved from the table to the stack of blocks ", "D.open a box" ] }, { "task_id": "0002768", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.finish setting up the starting position of a chessboard that is almost arranged, B.take the green plush toy out of the silver pot and place it on the table, C.push the block to the right, D.press the button at the third switch from the left on the power strip], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002768.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.take the green plush toy out of the silver pot and place it on the table", "C.push the block to the right", "D.press the button at the third switch from the left on the power strip" ] }, { "task_id": "0002769", "task": "TrajChoice", "id": "RH20T_cfg4_task_0031_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.change the position of the bottle, B.cover the box, C.remove the lid from the pot and place it on the table, D.put the wooden square on top of the wooden block in the middle of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002769.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.change the position of the bottle", "B.cover the box", "C.remove the lid from the pot and place it on the table", "D.put the wooden square on top of the wooden block in the middle of the table" ] }, { "task_id": "0002770", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0003_scene_0002_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.flip the spoon, B.pick up the small block on the left and move it to the right, C.put the green can in the cabinet, D.close the open drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002770.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip the spoon", "B.pick up the small block on the left and move it to the right", "C.put the green can in the cabinet", "D.close the open drawer" ] }, { "task_id": "0002771", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the metal bowl to the right, B.put the ball on the yellow plate, C.place the transparent box on the scale, D.transfer the circle from the stand to the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002771.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the metal bowl to the right", "B.put the ball on the yellow plate", "C.place the transparent box on the scale", "D.transfer the circle from the stand to the table" ] }, { "task_id": "0002772", "task": "TrajChoice", "id": "RH20T_cfg4_task_0005_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.approach and touch the side of the small block, B.take the marker from the white bowl and put it on the table, then return it to the white bowl, C.put the marker in the bowl, D.place the lid on the container then push the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002772.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.take the marker from the white bowl and put it on the table, then return it to the white bowl", "C.put the marker in the bowl", "D.place the lid on the container then push the button" ] }, { "task_id": "0002773", "task": "TrajChoice", "id": "RH20T_cfg5_task_0092_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the button from top to bottom, B.turn the hands of a clock, C.the folding cloth, D.grab a basketball, release it and shoot it into the basket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002773.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.turn the hands of a clock", "C.the folding cloth", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0002774", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the black sneaker from the top shelf of the shoe rack to the bottom shelf, B.press the button on the orange base with the red key, C.place the block on the scale, D.move the object to the right side of the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002774.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black sneaker from the top shelf of the shoe rack to the bottom shelf", "B.press the button on the orange base with the red key", "C.place the block on the scale", "D.move the object to the right side of the table" ] }, { "task_id": "0002775", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the red object in the bowl, B.push the button down on the toaster, C.place a bag of things in the middle of the table, D.put the glass cup on the green table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002775.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red object in the bowl", "B.push the button down on the toaster", "C.place a bag of things in the middle of the table", "D.put the glass cup on the green table" ] }, { "task_id": "0002776", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents in the box into the cup, B.move the mug to the left, C.grasp the handle and close the drawer, D.move the cup from the table to the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002776.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the box into the cup", "B.move the mug to the left", "C.grasp the handle and close the drawer", "D.move the cup from the table to the plate" ] }, { "task_id": "0002777", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.the towel on the folding table, B.insert the tip of a large pipette into the holder for large pipette tips, C.close the middle drawer, D.wave the flag] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002777.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the towel on the folding table", "B.insert the tip of a large pipette into the holder for large pipette tips", "C.close the middle drawer", "D.wave the flag" ] }, { "task_id": "0002778", "task": "TrajChoice", "id": "RH20T_cfg4_task_0032_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the cushion on top of the remote control, B.remove the cup from inside the sink and put it on top of the sink, C.slide the lid of the box, D.take the red marker out of the yellow mug] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002778.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cushion on top of the remote control", "B.remove the cup from inside the sink and put it on top of the sink", "C.slide the lid of the box", "D.take the red marker out of the yellow mug" ] }, { "task_id": "0002779", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take out the watermelon plushie from the basket and put it on the counter, B.uncover the cooker and put the lid on the counter, C.place the block on the scale, D.pick up the yellow and green plush toys and put them inside the open red drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002779.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the watermelon plushie from the basket and put it on the counter", "B.uncover the cooker and put the lid on the counter", "C.place the block on the scale", "D.pick up the yellow and green plush toys and put them inside the open red drawer" ] }, { "task_id": "0002780", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push the tissue to the wall and then pour the contents from the black spoon into the white cup, B.remove the bottle from the open cabinet, put it on the counter, put it back in the cabinet and then put it back on the counter, C.put the block in the drawer, close the drawer, D.remove the lid from the container and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002780.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the tissue to the wall and then pour the contents from the black spoon into the white cup", "B.remove the bottle from the open cabinet, put it on the counter, put it back in the cabinet and then put it back on the counter", "C.put the block in the drawer, close the drawer", "D.remove the lid from the container and put it on the table" ] }, { "task_id": "0002781", "task": "TrajChoice", "id": "RH20T_cfg5_task_0100_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the blue ball on the table, B.sliding cover, C.stir the cup with a spoon, D.move the fork to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002781.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue ball on the table", "B.sliding cover", "C.stir the cup with a spoon", "D.move the fork to the left" ] }, { "task_id": "0002782", "task": "TrajChoice", "id": "RH20T_cfg5_task_0025_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the water dispenser switch, B.unfold a piece of blank paper on the desk, C.push the drawer closed, D.place the pen on the left side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002782.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the water dispenser switch", "B.unfold a piece of blank paper on the desk", "C.push the drawer closed", "D.place the pen on the left side of the table" ] }, { "task_id": "0002784", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.close a sliding window, B.pick the bottle up and move it to the right side of the table, C.move the green object to the table, D.close the flusk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002784.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.pick the bottle up and move it to the right side of the table", "C.move the green object to the table", "D.close the flusk" ] }, { "task_id": "0002785", "task": "TrajChoice", "id": "RH20T_cfg2_task_0041_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the objects on the desk into the black basket, B.pick up the soap bottle and place it on the kitchen counter, C.clean the tabletop with a sponge, D.transfer the tissue box on the table to the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002785.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the objects on the desk into the black basket", "B.pick up the soap bottle and place it on the kitchen counter", "C.clean the tabletop with a sponge", "D.transfer the tissue box on the table to the shelf" ] }, { "task_id": "0002786", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the drawer shut, B.take the lid from the silver pot at the bottom right and place it in the sink, C.pick the popcorn on the napkin using a fork, D.rotate the button counterclockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002786.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer shut", "B.take the lid from the silver pot at the bottom right and place it in the sink", "C.pick the popcorn on the napkin using a fork", "D.rotate the button counterclockwise" ] }, { "task_id": "0002788", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.clean the table with a cloth, B.transfer the brown items and the dark blue items from the box to the black tray, C.transfer the orange can from the table to the sink on the left, D.moving the object from the table and placing it into the green bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002788.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.transfer the brown items and the dark blue items from the box to the black tray", "C.transfer the orange can from the table to the sink on the left", "D.moving the object from the table and placing it into the green bowl" ] }, { "task_id": "0002789", "task": "TrajChoice", "id": "RH20T_cfg3_task_0063_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.wipe the surface using the orange cloth, B.put the white cable in the storage box, C.use a shovel to scoop up an object, D.put the orange object in the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002789.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the surface using the orange cloth", "B.put the white cable in the storage box", "C.use a shovel to scoop up an object", "D.put the orange object in the bowl" ] }, { "task_id": "0002790", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0020_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grab the block and place it at the designated location, B.twist the blue object, C.put the towel in the box, D.pull the object on the desk backwards] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002790.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.twist the blue object", "C.put the towel in the box", "D.pull the object on the desk backwards" ] }, { "task_id": "0002791", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker on the desk, B.push the small block, C.put the knife on the cutting board, D.put the pen inside the clear cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002791.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the desk", "B.push the small block", "C.put the knife on the cutting board", "D.put the pen inside the clear cup" ] }, { "task_id": "0002792", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.insert the pencil into the pencil sharpener, B.stir the content in the bowl with a spoon, C.push the small block from above the table to the middle of the table, D.put the clothes into the box] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002792.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.stir the content in the bowl with a spoon", "C.push the small block from above the table to the middle of the table", "D.put the clothes into the box" ] }, { "task_id": "0002793", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the soda can on the tray, B.put the object on the left side of the table, wipe the table, C.put the glue stick into the green cup, D.turn on the water tap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002793.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the soda can on the tray", "B.put the object on the left side of the table, wipe the table", "C.put the glue stick into the green cup", "D.turn on the water tap" ] }, { "task_id": "0002794", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pull up the lever, B.place the utensils into the container, C.move the black object from the table to the cup, D.pick up a bag of things] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002794.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull up the lever", "B.place the utensils into the container", "C.move the black object from the table to the cup", "D.pick up a bag of things" ] }, { "task_id": "0002795", "task": "TrajChoice", "id": "RH20T_cfg2_task_0010_user_0003_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the spoon from the white cup to the left paper cup, B.place the handset of the telephone on the corresponding phone cradle, C.rotate the button on the machine clockwise, D.put the cup into the plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002795.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the spoon from the white cup to the left paper cup", "B.place the handset of the telephone on the corresponding phone cradle", "C.rotate the button on the machine clockwise", "D.put the cup into the plate" ] }, { "task_id": "0002796", "task": "TrajChoice", "id": "RH20T_cfg2_task_0018_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the item off the bag, B.arrange the cushions, one in front of the other, against the armrest, C.pick up the towel from the back of the black chair and place it on the armrest of the chair, D.put the wooden block on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002796.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the item off the bag", "B.arrange the cushions, one in front of the other, against the armrest", "C.pick up the towel from the back of the black chair and place it on the armrest of the chair", "D.put the wooden block on the table" ] }, { "task_id": "0002797", "task": "TrajChoice", "id": "RH20T_cfg3_task_0059_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the knob to increase the volume of the speaker, B.press on the remote, C.wipe the tabletop with a white towel, D.put the marker in the cup on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002797.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.press on the remote", "C.wipe the tabletop with a white towel", "D.put the marker in the cup on the table" ] }, { "task_id": "0002799", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.after pouring the water from the green cup into the sink, place it on the countertop, B.adjust the angle and orientation of the toilet paper, C.put the yellow object in the cup, D.push the block to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002799.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.after pouring the water from the green cup into the sink, place it on the countertop", "B.adjust the angle and orientation of the toilet paper", "C.put the yellow object in the cup", "D.push the block to the right" ] }, { "task_id": "0002800", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the machine switch, B.put the scissors on the table, C.close the open drawer at the right, D.drag the plate to the goal post after holding it down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002800.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the machine switch", "B.put the scissors on the table", "C.close the open drawer at the right", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0002801", "task": "TrajChoice", "id": "RH20T_cfg4_task_0022_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the kitchenware at the edge of the table, B.put the banana on the left side of the basket on the table, C.wave the flag, D.take the marker out of the pot and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002801.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the kitchenware at the edge of the table", "B.put the banana on the left side of the basket on the table", "C.wave the flag", "D.take the marker out of the pot and put it on the table" ] }, { "task_id": "0002803", "task": "TrajChoice", "id": "RH20T_cfg3_task_0048_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the chess pieces on the chessboard, B.press the button on the machine, C.move the white mug to the right white mat, D.rotate the steering wheel 90 degrees clockwise] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002803.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the chess pieces on the chessboard", "B.press the button on the machine", "C.move the white mug to the right white mat", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0002804", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the silver pot, B.spread the cable on the table, C.dial a number on an old rotary phone, D.fold the white towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002804.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the silver pot", "B.spread the cable on the table", "C.dial a number on an old rotary phone", "D.fold the white towel" ] }, { "task_id": "0002805", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the small block on the right and move it to the left, B.close the coffee machine lid then open it, C.move the white cloth from the black table in the middle and place it on the metal object, D.take the object down from the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002805.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it to the left", "B.close the coffee machine lid then open it", "C.move the white cloth from the black table in the middle and place it on the metal object", "D.take the object down from the shelf" ] }, { "task_id": "0002806", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the desk lamp by pressing the button, B.rotate the bottle clockwise, C.put the green pen inside the grey bowl, D.unfold the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002806.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.rotate the bottle clockwise", "C.put the green pen inside the grey bowl", "D.unfold the towel" ] }, { "task_id": "0002808", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the block on the scale, B.move the cup to the right on the table, C.put the lid on the silver pot, D.pick up the pen from the cup and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002808.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.move the cup to the right on the table", "C.put the lid on the silver pot", "D.pick up the pen from the cup and put it on the table" ] }, { "task_id": "0002809", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pulling the handle of the sliding window to open the window, B.move the cup to the right, C.move the yellow bell pepper and close the drawer, D.move the tape from the table to the plate], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002809.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pulling the handle of the sliding window to open the window", "B.move the cup to the right", "C.move the yellow bell pepper and close the drawer", "D.move the tape from the table to the plate" ] }, { "task_id": "0002810", "task": "TrajChoice", "id": "RH20T_cfg4_task_0017_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push down on the spray bottle, B.remove the lemon from the white plate and put it on the nightstand, C.put the object on the bed, D.put the pen into the pen holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002810.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down on the spray bottle", "B.remove the lemon from the white plate and put it on the nightstand", "C.put the object on the bed", "D.put the pen into the pen holder" ] }, { "task_id": "0002811", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the key on the keyboard, B.put the object on the plate, C.put the garbage in the trash can, D.put the toilet paper on its holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002811.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the key on the keyboard", "B.put the object on the plate", "C.put the garbage in the trash can", "D.put the toilet paper on its holder" ] }, { "task_id": "0002812", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the small block on the right and move it, B.remove the white cloth from the black frame, C.put the marker on the table, D.finish setting up the starting position of a chessboard that is almost arranged] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002812.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it", "B.remove the white cloth from the black frame", "C.put the marker on the table", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0002813", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0002_cfg_0004_104122062823#238", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put things in the drawer, B.pick up the white plate from the dishwasher and put it on the countertop, C.fold the towel, D.turn on the kettle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002813.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put things in the drawer", "B.pick up the white plate from the dishwasher and put it on the countertop", "C.fold the towel", "D.turn on the kettle" ] }, { "task_id": "0002814", "task": "TrajChoice", "id": "RH20T_cfg2_task_0045_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the brush on the pen rack, B.pick up the orange object and put it in the blue cup, C.put the remote control on the cloth, D.put the fork in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002814.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.pick up the orange object and put it in the blue cup", "C.put the remote control on the cloth", "D.put the fork in the sink" ] }, { "task_id": "0002815", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the pen inside the cup, B.put the pen in the mug cup, C.push the soccer ball into the goal, D.transfer the spoon from the bowl to the object] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002815.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the pen inside the cup", "B.put the pen in the mug cup", "C.push the soccer ball into the goal", "D.transfer the spoon from the bowl to the object" ] }, { "task_id": "0002816", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.throw the orange marker into the grey bowl, B.move the bottle backward to the left, C.open a box, D.place the doll on the back of the sofa] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002816.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the orange marker into the grey bowl", "B.move the bottle backward to the left", "C.open a box", "D.place the doll on the back of the sofa" ] }, { "task_id": "0002817", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button horizontally, B.put the pen in the cup, C.open the toaster oven door, D.wave the flag] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002817.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.put the pen in the cup", "C.open the toaster oven door", "D.wave the flag" ] }, { "task_id": "0002819", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the leftmost bottle in the left end of the lower half of the cardboard, B.place the handset of the telephone on the corresponding phone cradle, C.move the hoodie to the top of the TV stand, D.use the gripper to push and close the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002819.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the leftmost bottle in the left end of the lower half of the cardboard", "B.place the handset of the telephone on the corresponding phone cradle", "C.move the hoodie to the top of the TV stand", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0002820", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up and place an object with obstacles, B.pour the items in the bowl into the pot, C.place the brush on the pen rack, D.put the silver bottle upright] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002820.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.pour the items in the bowl into the pot", "C.place the brush on the pen rack", "D.put the silver bottle upright" ] }, { "task_id": "0002821", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick the clothes on the box and put them on the back rest of the chair, B.open the box lid, C.remove the object from the scale, D.sweeping a small block with the gripper from left to right on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002821.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the clothes on the box and put them on the back rest of the chair", "B.open the box lid", "C.remove the object from the scale", "D.sweeping a small block with the gripper from left to right on the table" ] }, { "task_id": "0002822", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drop a coin into the piggy bank, B.put the marker on the desk, C.press the button from top to bottom, D.hit the pool ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002822.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into the piggy bank", "B.put the marker on the desk", "C.press the button from top to bottom", "D.hit the pool ball" ] }, { "task_id": "0002823", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the knob to decrease the volume of the speaker, B.open the cube-shaped wooden object completely, C.move the fork into the drawer, D.pick up the clothes from the box and put it on the chair back] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002823.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.open the cube-shaped wooden object completely", "C.move the fork into the drawer", "D.pick up the clothes from the box and put it on the chair back" ] }, { "task_id": "0002824", "task": "TrajChoice", "id": "RH20T_cfg1_task_0101_user_0014_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the third button from the left, B.clean the table with a cloth, C.take the cup off the cup rack, D.put the bottle on the left side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002824.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the third button from the left", "B.clean the table with a cloth", "C.take the cup off the cup rack", "D.put the bottle on the left side of the table" ] }, { "task_id": "0002825", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the brown jeans inside the brown bag on the sofa, B.put the cup on the cup rack, C.move the black cloth from the chair to the table, D.place the marker on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002825.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brown jeans inside the brown bag on the sofa", "B.put the cup on the cup rack", "C.move the black cloth from the chair to the table", "D.place the marker on the table" ] }, { "task_id": "0002826", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0015_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the block to the left, B.put the object on the shelf, C.put the pen in the mug, D.close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002826.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block to the left", "B.put the object on the shelf", "C.put the pen in the mug", "D.close the drawer" ] }, { "task_id": "0002827", "task": "TrajChoice", "id": "RH20T_cfg6_task_0061_user_0014_scene_0010_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the square from the gift box and throw it onto the table, B.place the can on the tray, C.put the cup in the bowl, D.remove the pink lid from the bowl and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002827.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the square from the gift box and throw it onto the table", "B.place the can on the tray", "C.put the cup in the bowl", "D.remove the pink lid from the bowl and put it on the table" ] }, { "task_id": "0002828", "task": "TrajChoice", "id": "RH20T_cfg6_task_0061_user_0014_scene_0010_cfg_0006_104122063633#116", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the square from the gift box and throw it onto the table, B.put the rectangular block on the square block, C.press the button on the wall, D.wipe the small ball with a tissue] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002828.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the square from the gift box and throw it onto the table", "B.put the rectangular block on the square block", "C.press the button on the wall", "D.wipe the small ball with a tissue" ] }, { "task_id": "0002829", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.rotate the steering wheel 90 degrees clockwise, B.pick up the animal print cloth from the chair and put it in the box, C.put the yellow pepper in the brown bowl, D.turn off the switch in the far right of the adapter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002829.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.pick up the animal print cloth from the chair and put it in the box", "C.put the yellow pepper in the brown bowl", "D.turn off the switch in the far right of the adapter" ] }, { "task_id": "0002830", "task": "TrajChoice", "id": "RH20T_cfg5_task_0028_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the blue rectangular block on the table, B.slide the pot to the left side of the stove, C.grasp the handle and close the drawer, D.plug in the usb drive to the docking station], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002830.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the blue rectangular block on the table", "B.slide the pot to the left side of the stove", "C.grasp the handle and close the drawer", "D.plug in the usb drive to the docking station" ] }, { "task_id": "0002831", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the faucet of the hand sink, B.open the right cabinet door wider, C.move the faucet to the left, D.water the plant] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002831.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the faucet of the hand sink", "B.open the right cabinet door wider", "C.move the faucet to the left", "D.water the plant" ] }, { "task_id": "0002832", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up a bag of things, B.move the mug cup forward, C.move the button from the white box into the pink box, D.put the shirt on the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002832.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.move the mug cup forward", "C.move the button from the white box into the pink box", "D.put the shirt on the box" ] }, { "task_id": "0002833", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the chair away, B.rotate the steering wheel 90 degrees clockwise, C.push the faucet, D.place the marker inside the green and white mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002833.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the chair away", "B.rotate the steering wheel 90 degrees clockwise", "C.push the faucet", "D.place the marker inside the green and white mug" ] }, { "task_id": "0002834", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.roll the object over the plastic, B.push the toaster lever down, C.hit the pool ball, D.pick up the yellow block and put it on the green block on the left side of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002834.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.roll the object over the plastic", "B.push the toaster lever down", "C.hit the pool ball", "D.pick up the yellow block and put it on the green block on the left side of the table" ] }, { "task_id": "0002835", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the toilet paper on its holder, B.put the garbage in the trash can, C.move the basin from the table to the cabinet, D.pick up the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002835.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.put the garbage in the trash can", "C.move the basin from the table to the cabinet", "D.pick up the cup" ] }, { "task_id": "0002836", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the clothes on the box and the table, B.screw the lid onto the jar (needs to be turned), C.put the marker in the mug, D.reposition the cup on the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002836.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clothes on the box and the table", "B.screw the lid onto the jar (needs to be turned)", "C.put the marker in the mug", "D.reposition the cup on the counter" ] }, { "task_id": "0002837", "task": "TrajChoice", "id": "RH20T_cfg2_task_0076_user_0014_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the spoon slightly up, B.stacking blocks, C.move the mug forward slightly, D.take the pen out of the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002837.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spoon slightly up", "B.stacking blocks", "C.move the mug forward slightly", "D.take the pen out of the cup and put it on the table" ] }, { "task_id": "0002838", "task": "TrajChoice", "id": "RH20T_cfg2_task_0076_user_0014_scene_0002_cfg_0002_105422061350#412", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the ball from the bowl onto the table, and put the star from the table into the bowl, B.stacking blocks, C.the cloth on the folding table, D.water the plant], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002838.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ball from the bowl onto the table, and put the star from the table into the bowl", "B.stacking blocks", "C.the cloth on the folding table", "D.water the plant" ] }, { "task_id": "0002839", "task": "TrajChoice", "id": "RH20T_cfg6_task_0015_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the cup out of the sink and put it in the orange cup, B.play the drum, C.put the object next to the bed, D.pick up the hang wire from the stand and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002839.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup out of the sink and put it in the orange cup", "B.play the drum", "C.put the object next to the bed", "D.pick up the hang wire from the stand and put it on the table" ] }, { "task_id": "0002840", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the water from one cup into another empty cup, B.scrubbing the table with a brush, C.close the cabinet door on the left, D.put the toy on top of the oven], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002840.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.scrubbing the table with a brush", "C.close the cabinet door on the left", "D.put the toy on top of the oven" ] }, { "task_id": "0002841", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.insert the tip of a large pipette into the holder for large pipette tips, B.put the pink lid on the bowl, C.wipe the table, D.move the mug backwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002841.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a large pipette into the holder for large pipette tips", "B.put the pink lid on the bowl", "C.wipe the table", "D.move the mug backwards" ] }, { "task_id": "0002842", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.clean the tabletop with a sponge, B.organizing things, C.put the pen in the cup, D.push the faucet handle downwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002842.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.organizing things", "C.put the pen in the cup", "D.push the faucet handle downwards" ] }, { "task_id": "0002843", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.plug in the bulb holder to the socket, B.put the spatula into the black pot, C.play the drum, D.move the white bunny doll a little further] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002843.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.put the spatula into the black pot", "C.play the drum", "D.move the white bunny doll a little further" ] }, { "task_id": "0002844", "task": "TrajChoice", "id": "RH20T_cfg4_task_0084_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the ball to the right of the banana, B.place the green straw on the table into the cup, C.assemble: attach the bubble ring to the ball, D.put the green plush toy in the pink bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002844.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ball to the right of the banana", "B.place the green straw on the table into the cup", "C.assemble: attach the bubble ring to the ball", "D.put the green plush toy in the pink bowl" ] }, { "task_id": "0002845", "task": "TrajChoice", "id": "RH20T_cfg3_task_0008_user_0016_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grab the block and place it at the designated location, B.remove the block from the scale, C.spread the clothes on the table, D.remove the pen from the cup and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002845.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.remove the block from the scale", "C.spread the clothes on the table", "D.remove the pen from the cup and place it on the table" ] }, { "task_id": "0002846", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the spoon in the box, B.push the chair forward, C.slide the towel on the table to the right, D.pick up the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002846.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon in the box", "B.push the chair forward", "C.slide the towel on the table to the right", "D.pick up the cup" ] }, { "task_id": "0002847", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick the bowl and put it on the shelf, B.move the blue basketball to the box, C.take the object and put it near the stove, D.push the small block from the position under the table to the position above the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002847.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the bowl and put it on the shelf", "B.move the blue basketball to the box", "C.take the object and put it near the stove", "D.push the small block from the position under the table to the position above the table" ] }, { "task_id": "0002848", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0020_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the towel on the other side of the rack, B.take the roll of paper down from the shelf and place it on the table, C.put the orange item into the black bowl, D.put the green box to the left of the gray box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002848.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the other side of the rack", "B.take the roll of paper down from the shelf and place it on the table", "C.put the orange item into the black bowl", "D.put the green box to the left of the gray box" ] }, { "task_id": "0002849", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0017_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the pen from the green cup and put it on the countertop, B.put the garbage in the trash can, C.wiping the sink with a sponge in the water tank, D.put the packaging bag on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002849.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the green cup and put it on the countertop", "B.put the garbage in the trash can", "C.wiping the sink with a sponge in the water tank", "D.put the packaging bag on the table" ] }, { "task_id": "0002851", "task": "TrajChoice", "id": "RH20T_cfg6_task_0073_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bagged object on the tabletop, B.open the oven door, C.drag the plate back after holding it down, D.put the things in the drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002851.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bagged object on the tabletop", "B.open the oven door", "C.drag the plate back after holding it down", "D.put the things in the drawer" ] }, { "task_id": "0002852", "task": "TrajChoice", "id": "RH20T_cfg6_task_0073_user_0020_scene_0007_cfg_0006_104122064161#240", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the rubbish can to the right, B.put the things in the drawer, C.move the marker to the right, D.approach and touch an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002852.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the rubbish can to the right", "B.put the things in the drawer", "C.move the marker to the right", "D.approach and touch an object with obstacles" ] }, { "task_id": "0002853", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.finish setting up the starting position of a chessboard that is almost arranged, B.take the marker out of the bowl and put it on the table, C.remove a glass jar from the silver holder on the right, D.use the gripper to push the small block from left to right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002853.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.take the marker out of the bowl and put it on the table", "C.remove a glass jar from the silver holder on the right", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0002854", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the handset of the telephone on the corresponding phone cradle, B.use a towel to wipe the pan, C.cover the pot with the lid, D.rotate the object clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002854.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.use a towel to wipe the pan", "C.cover the pot with the lid", "D.rotate the object clockwise" ] }, { "task_id": "0002855", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the marker in the bowl, B.put the transparent spoon into the black rack, C.place the handset of the telephone on the corresponding phone cradle, D.place the shorter glass bottle between the cup and the whiteboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002855.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.put the transparent spoon into the black rack", "C.place the handset of the telephone on the corresponding phone cradle", "D.place the shorter glass bottle between the cup and the whiteboard" ] }, { "task_id": "0002856", "task": "TrajChoice", "id": "RH20T_cfg1_task_0103_user_0014_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the silver pot to the left, B.pick up the small block on the left and move it to the right, C.slide the plate on the cardboard, D.put the blue object on top of the orange one] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002856.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the silver pot to the left", "B.pick up the small block on the left and move it to the right", "C.slide the plate on the cardboard", "D.put the blue object on top of the orange one" ] }, { "task_id": "0002857", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the yellow block on the right side of the table, B.put the block on the table, then put the block on the block, C.turn off the second switch from the left of the power socket, D.move an object from one box to another], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002857.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block on the right side of the table", "B.put the block on the table, then put the block on the block", "C.turn off the second switch from the left of the power socket", "D.move an object from one box to another" ] }, { "task_id": "0002858", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.clean the table with a cloth, B.put the green block in the bowl, C.pick up the lid from the bottle and put it on the table, D.put the toy into the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002858.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the table with a cloth", "B.put the green block in the bowl", "C.pick up the lid from the bottle and put it on the table", "D.put the toy into the bowl" ] }, { "task_id": "0002859", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a purple Hanoi block and place it on the table, B.scrubbing the table with a brush, C.put the purple plush toy on the plate, D.pick up the bottle and place it in a lying down position] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002859.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a purple Hanoi block and place it on the table", "B.scrubbing the table with a brush", "C.put the purple plush toy on the plate", "D.pick up the bottle and place it in a lying down position" ] }, { "task_id": "0002860", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the box to the left of the bottle, B.take out a Hanoi block and throw it aside, C.place the lid on the container and push the button, D.fold the green cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002860.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the box to the left of the bottle", "B.take out a Hanoi block and throw it aside", "C.place the lid on the container and push the button", "D.fold the green cloth" ] }, { "task_id": "0002861", "task": "TrajChoice", "id": "RH20T_cfg4_task_0022_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the water bottle out of the bin and put it on the countertop, B.move the black ball from the table to the box, C.wave the flag, D.put the rope in the box under the chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002861.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the water bottle out of the bin and put it on the countertop", "B.move the black ball from the table to the box", "C.wave the flag", "D.put the rope in the box under the chair" ] }, { "task_id": "0002862", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0002_scene_0007_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the object from the scale, B.turn the handle of the mug to another side, C.press the green button on the yellow base, D.put the marker in the glass cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002862.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.turn the handle of the mug to another side", "C.press the green button on the yellow base", "D.put the marker in the glass cup" ] }, { "task_id": "0002863", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wiping the table with a cloth, B.wave the flag, C.rotate the steering wheel 90 degrees clockwise, D.remove the lid from the bottle and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002863.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the table with a cloth", "B.wave the flag", "C.rotate the steering wheel 90 degrees clockwise", "D.remove the lid from the bottle and put it on the table" ] }, { "task_id": "0002864", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the paper cup on top of the plastic water bottle, B.open the microwave door, C.wiping the plate with a towel, D.remove the green marker from the table and put it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002864.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the paper cup on top of the plastic water bottle", "B.open the microwave door", "C.wiping the plate with a towel", "D.remove the green marker from the table and put it in the bowl" ] }, { "task_id": "0002865", "task": "TrajChoice", "id": "RH20T_cfg1_task_0028_user_0001_scene_0008_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.grasp the handle and close the drawer, B.move the shoes, C.slide the gray cloth on the desk, D.put the object on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002865.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and close the drawer", "B.move the shoes", "C.slide the gray cloth on the desk", "D.put the object on the table" ] }, { "task_id": "0002866", "task": "TrajChoice", "id": "RH20T_cfg6_task_0061_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.rotate the cup clockwise and place the upside-down cup on the windowsill, B.put the tube in the bag, C.take the cubes out of the gift box, D.put the toy into the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002866.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the cup clockwise and place the upside-down cup on the windowsill", "B.put the tube in the bag", "C.take the cubes out of the gift box", "D.put the toy into the bowl" ] }, { "task_id": "0002867", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the remote control, B.clean the tabletop with a sponge, C.close the open drawer, D.stack the three cups together] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002867.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the remote control", "B.clean the tabletop with a sponge", "C.close the open drawer", "D.stack the three cups together" ] }, { "task_id": "0002868", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the green marker from the grey bowl, B.remove the wipe and put it on the table, C.remove the cup from the blue tray and put it on the rack, D.turn off the desk lamp by pressing the button], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002868.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green marker from the grey bowl", "B.remove the wipe and put it on the table", "C.remove the cup from the blue tray and put it on the rack", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0002869", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup on the cup rack, B.turn the pen holder upright and place it on the table, C.switch the positions of the cylindrical block and the block, D.move the black mug to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002869.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.turn the pen holder upright and place it on the table", "C.switch the positions of the cylindrical block and the block", "D.move the black mug to the left" ] }, { "task_id": "0002870", "task": "TrajChoice", "id": "RH20T_cfg2_task_0050_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.wiping the lampshade with a tissue taken from the desk, B.put the green cloth beside the basket, C.fold the towel, D.put the dish on the dish rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002870.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the lampshade with a tissue taken from the desk", "B.put the green cloth beside the basket", "C.fold the towel", "D.put the dish on the dish rack" ] }, { "task_id": "0002871", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0015_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the orange cup from the table and put it in the bowl, B.take the pencil out from the pencil sharpener, C.press the third switch from the left on the power strip, D.put the bottle into the bag from the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002871.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the orange cup from the table and put it in the bowl", "B.take the pencil out from the pencil sharpener", "C.press the third switch from the left on the power strip", "D.put the bottle into the bag from the table" ] }, { "task_id": "0002872", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the ring on the cylinder, B.place the block on the scale, C.open the top part of the fridge and put the black bottle and the sponge inside, D.move the bin to the right on the counter], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002872.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the cylinder", "B.place the block on the scale", "C.open the top part of the fridge and put the black bottle and the sponge inside", "D.move the bin to the right on the counter" ] }, { "task_id": "0002873", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take down the white flag from the hanger, B.remove the object from the scale, C.fold the clothes, D.put the block into the basket] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002873.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take down the white flag from the hanger", "B.remove the object from the scale", "C.fold the clothes", "D.put the block into the basket" ] }, { "task_id": "0002874", "task": "TrajChoice", "id": "RH20T_cfg1_task_0119_user_0010_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.build with large Megabloks for the nth time with n blocks, B.put the marker in the pot, C.turn off the water tap, D.remove the block from the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002874.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.build with large Megabloks for the nth time with n blocks", "B.put the marker in the pot", "C.turn off the water tap", "D.remove the block from the scale" ] }, { "task_id": "0002875", "task": "TrajChoice", "id": "RH20T_cfg6_task_0017_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.grab the block and place it at the black dot, B.remove the marker from the black cup and place it on the table, C.rotate the sneakers counterclockwise, D.put the pen into the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002875.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the black dot", "B.remove the marker from the black cup and place it on the table", "C.rotate the sneakers counterclockwise", "D.put the pen into the pen holder" ] }, { "task_id": "0002876", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the lid, B.put the green bowl behind the wine glass, C.turn off the water tap, D.move the green marker to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002876.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid", "B.put the green bowl behind the wine glass", "C.turn off the water tap", "D.move the green marker to the right" ] }, { "task_id": "0002877", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object on the object, B.pick up the cup, C.build with small Lego blocks in the correct position, D.slide the green cloth to the right and then to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002877.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the object", "B.pick up the cup", "C.build with small Lego blocks in the correct position", "D.slide the green cloth to the right and then to the left" ] }, { "task_id": "0002878", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put a yellow chip in the red box, B.place the handset of the telephone on the corresponding phone cradle, C.transfer the lid from the left cup to the right cup, D.take the Rubik's cube from the desk and put it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002878.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a yellow chip in the red box", "B.place the handset of the telephone on the corresponding phone cradle", "C.transfer the lid from the left cup to the right cup", "D.take the Rubik's cube from the desk and put it in the bowl" ] }, { "task_id": "0002879", "task": "TrajChoice", "id": "RH20T_cfg2_task_0074_user_0014_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the coffee cup at the front to the left, B.take the pot from the top right corner of the stove to the bottom left corner of the stove, C.press the button horizontally, D.remove the pen from the cup and place it on the table, and move the cup to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002879.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the coffee cup at the front to the left", "B.take the pot from the top right corner of the stove to the bottom left corner of the stove", "C.press the button horizontally", "D.remove the pen from the cup and place it on the table, and move the cup to the left" ] }, { "task_id": "0002880", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pull out a napkin, B.move the grey cup to the front of the table, C.take the book to the left side of the table, D.remove the brown ring from the wooden stand], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002880.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.move the grey cup to the front of the table", "C.take the book to the left side of the table", "D.remove the brown ring from the wooden stand" ] }, { "task_id": "0002881", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0010_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.unscrewing the lid from the jar, B.remove the potato chips from the plate and put them in the green cup, C.move the cooking tweezers to the left, D.move the glass bowl to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002881.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrewing the lid from the jar", "B.remove the potato chips from the plate and put them in the green cup", "C.move the cooking tweezers to the left", "D.move the glass bowl to the left" ] }, { "task_id": "0002882", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.moving to the right side of the table while holding a small block, B.close the drawer, C.place the lid on the pot, D.remove the bubble ring from the assembled bubble ring and ball and place the bubble ring on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002882.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving to the right side of the table while holding a small block", "B.close the drawer", "C.place the lid on the pot", "D.remove the bubble ring from the assembled bubble ring and ball and place the bubble ring on the table" ] }, { "task_id": "0002883", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put a marker in the mug, B.put the green bowl in the open upper cabinet, C.take the cup off the cup rack and move it to the table, D.put the bowl in the middle of the second shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002883.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a marker in the mug", "B.put the green bowl in the open upper cabinet", "C.take the cup off the cup rack and move it to the table", "D.put the bowl in the middle of the second shelf" ] }, { "task_id": "0002884", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the garbage in the trash can, B.put the brown clothing into the laundry basket, C.put the silver nail inside the clear container on the right, D.put the object on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002884.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.put the brown clothing into the laundry basket", "C.put the silver nail inside the clear container on the right", "D.put the object on the shelf" ] }, { "task_id": "0002885", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.Insert the tip of a medium pipette into the holder for medium pipette tips, B.transfer the pen from the cup to the desktop, C.tap the small ball, D.put the basket on the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002885.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a medium pipette into the holder for medium pipette tips", "B.transfer the pen from the cup to the desktop", "C.tap the small ball", "D.put the basket on the right side of the table" ] }, { "task_id": "0002886", "task": "TrajChoice", "id": "RH20T_cfg6_task_0017_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the pen into the pen holder, B.put the plastic bread toy inside the silver pot in the sink, C.put the orange object on the shelf into the bowl, D.pick the yellow ring and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002886.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.put the plastic bread toy inside the silver pot in the sink", "C.put the orange object on the shelf into the bowl", "D.pick the yellow ring and put it on the table" ] }, { "task_id": "0002888", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the switch on the right side of the wall, B.put the remote controller onto the table, C.move the spoon to the green bowl, D.remove the object from the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002888.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the switch on the right side of the wall", "B.put the remote controller onto the table", "C.move the spoon to the green bowl", "D.remove the object from the scale" ] }, { "task_id": "0002889", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the block on the scale, B.press the switch on the coffee machine, C.put the pen inside the mug cup, D.close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002889.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.press the switch on the coffee machine", "C.put the pen inside the mug cup", "D.close the drawer" ] }, { "task_id": "0002890", "task": "TrajChoice", "id": "RH20T_cfg4_task_0019_user_0016_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the orange marker inside the mug, B.use the cloth to wipe the table, C.play the first move as black on the 3-4 point in the upper left corner, D.close the kitchen drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002890.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange marker inside the mug", "B.use the cloth to wipe the table", "C.play the first move as black on the 3-4 point in the upper left corner", "D.close the kitchen drawer" ] }, { "task_id": "0002891", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the knob to increase the volume of the speaker, B.remove the black t-shirt from the backrest of the chair and put it on the round table, C.put the marker in the cup, D.move the bowl from the left side of the shelf to the right side of the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002891.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.remove the black t-shirt from the backrest of the chair and put it on the round table", "C.put the marker in the cup", "D.move the bowl from the left side of the shelf to the right side of the shelf" ] }, { "task_id": "0002892", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the faucet, B.put the clothes on the chair, C.slide the outer casing onto the gift box, D.remove the yellow plushy from the red bowl and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002892.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the faucet", "B.put the clothes on the chair", "C.slide the outer casing onto the gift box", "D.remove the yellow plushy from the red bowl and put it on the table" ] }, { "task_id": "0002893", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take out a Hanoi block and throw it aside, B.the object in the transparent box, C.turn on the desk lamp by pressing the button, D.put the ball on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002893.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.the object in the transparent box", "C.turn on the desk lamp by pressing the button", "D.put the ball on the table" ] }, { "task_id": "0002895", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the cup in the bowl, B.put the left bag in front of the right bag, C.approach and touch the side of the small block, D.turn on the light switch], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002895.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup in the bowl", "B.put the left bag in front of the right bag", "C.approach and touch the side of the small block", "D.turn on the light switch" ] }, { "task_id": "0002896", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.swat with a flyswatter, B.put the toilet paper on its holder, C.wiping the table with a towel, D.press the button on the machine] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002896.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.put the toilet paper on its holder", "C.wiping the table with a towel", "D.press the button on the machine" ] }, { "task_id": "0002897", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the fork on the drying rack, B.take the cup off the cup rack and place it on the table, C.push the microwave door closed, D.move the orange pan to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002897.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork on the drying rack", "B.take the cup off the cup rack and place it on the table", "C.push the microwave door closed", "D.move the orange pan to the left" ] }, { "task_id": "0002899", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the green fabric, B.grasp the handle and open the drawer, C.put the green object on the right bowl, D.place the bubble ring in just the right position to fit around the soccer ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002899.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green fabric", "B.grasp the handle and open the drawer", "C.put the green object on the right bowl", "D.place the bubble ring in just the right position to fit around the soccer ball" ] }, { "task_id": "0002901", "task": "TrajChoice", "id": "RH20T_cfg4_task_0111_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object with the corresponding shape into the corresponding hole, B.pick up the black marker from the left side of the workbench and put it in the white mug, C.move the cup to the left, D.push the small block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002901.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object with the corresponding shape into the corresponding hole", "B.pick up the black marker from the left side of the workbench and put it in the white mug", "C.move the cup to the left", "D.push the small block" ] }, { "task_id": "0002902", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0004_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the towel from the countertop to the hanger on the drawer, B.pick up the small block on the left and move it to the right, C.close the microwave door, D.close the top drawer of the right cabinet] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002902.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel from the countertop to the hanger on the drawer", "B.pick up the small block on the left and move it to the right", "C.close the microwave door", "D.close the top drawer of the right cabinet" ] }, { "task_id": "0002903", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0017_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the block from the desk, B.close the air fryer drawer, C.pick up the pink sphere and put it in the bowl, D.take the wooden spoon from the black pan and place it at the left of the stove] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002903.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the block from the desk", "B.close the air fryer drawer", "C.pick up the pink sphere and put it in the bowl", "D.take the wooden spoon from the black pan and place it at the left of the stove" ] }, { "task_id": "0002904", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull the plastic container from the cabinet, B.move the cup backwards, C.moving the bag from under the table to above the table, D.put the circular object on the pillar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002904.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the plastic container from the cabinet", "B.move the cup backwards", "C.moving the bag from under the table to above the table", "D.put the circular object on the pillar" ] }, { "task_id": "0002905", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the bottom drawer of the light green cabinet, B.press the machine button, C.Insert the tip of a small pipette into the holder for small pipette tips, D.turn the knob to increase the volume of the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002905.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer of the light green cabinet", "B.press the machine button", "C.Insert the tip of a small pipette into the holder for small pipette tips", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0002906", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bowl from the drawer on the cabinet, B.wipe the pot with the towel on the table, C.press the button from top to bottom, D.take out a Hanoi block and throw it aside], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002906.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bowl from the drawer on the cabinet", "B.wipe the pot with the towel on the table", "C.press the button from top to bottom", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0002907", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.assemble: attach the bubble ring to the ball, B.move the brown object to the left then use the towel to wipe the table, C.put the object into the bowl, D.put the scissors inside the black object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002907.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.move the brown object to the left then use the towel to wipe the table", "C.put the object into the bowl", "D.put the scissors inside the black object" ] }, { "task_id": "0002908", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pour the contents in the cup onto the plate, B.move the square on the desk forward, C.take the irregular building blocks and put them into the green bowl, D.wipe the black pan with the white cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002908.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the cup onto the plate", "B.move the square on the desk forward", "C.take the irregular building blocks and put them into the green bowl", "D.wipe the black pan with the white cloth" ] }, { "task_id": "0002909", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.drop a coin into a piggy bank, B.open the left cabinet door, C.put the knife on the cutting board, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002909.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.open the left cabinet door", "C.put the knife on the cutting board", "D.pick up a bag of things" ] }, { "task_id": "0002911", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the laptop, B.move the lid to the pot, C.place the brush on the pen rack, D.put the glass bottle on the right side of the cup on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002911.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the laptop", "B.move the lid to the pot", "C.place the brush on the pen rack", "D.put the glass bottle on the right side of the cup on the table" ] }, { "task_id": "0002912", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the items from the transparent cup into the mug, B.place the football on the scale, C.pick the gray object and move it to the left on the table, D.open the lid on the black electric kettle then close it], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002912.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the items from the transparent cup into the mug", "B.place the football on the scale", "C.pick the gray object and move it to the left on the table", "D.open the lid on the black electric kettle then close it" ] }, { "task_id": "0002913", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the pen out of the bowl and put it into the black cup, B.move the brown bear plush toy to the right, C.pull out a napkin, D.pick up the drink] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002913.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen out of the bowl and put it into the black cup", "B.move the brown bear plush toy to the right", "C.pull out a napkin", "D.pick up the drink" ] }, { "task_id": "0002914", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.clean the specified location with a brush, B.place the lid on the pot, C.place the bottle on the table, D.plug in the power cord to the socket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002914.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the specified location with a brush", "B.place the lid on the pot", "C.place the bottle on the table", "D.plug in the power cord to the socket" ] }, { "task_id": "0002915", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the marker in the pot, B.pick up the cup, C.press the button on the device, D.plug the charger head into the socket], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002915.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the marker in the pot", "B.pick up the cup", "C.press the button on the device", "D.plug the charger head into the socket" ] }, { "task_id": "0002916", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0002_scene_0006_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button from top to bottom, B.place the object from the box onto the table, C.take the bag from the table to the cabinet, D.open a box] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002916.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.place the object from the box onto the table", "C.take the bag from the table to the cabinet", "D.open a box" ] }, { "task_id": "0002917", "task": "TrajChoice", "id": "RH20T_cfg5_task_0055_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button from top to bottom, B.move the ball to the table, C.transfer a liquid using a dropper, D.put the glue stick in the mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002917.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button from top to bottom", "B.move the ball to the table", "C.transfer a liquid using a dropper", "D.put the glue stick in the mug" ] }, { "task_id": "0002918", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.use the gripper to push the small block from left to right, B.grab the blocks from the table and place them into the box, C.pick the lid on the tray and put it on the pan, D.put the building blocks into the paper cup and then take them back to the original cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002918.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.grab the blocks from the table and place them into the box", "C.pick the lid on the tray and put it on the pan", "D.put the building blocks into the paper cup and then take them back to the original cup" ] }, { "task_id": "0002919", "task": "TrajChoice", "id": "RH20T_cfg1_task_0125_user_0010_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the green container on the table from atop the container, B.put the shaving stick in the sink, C.put the marker in the cup, D.pull up the lever] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002919.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the green container on the table from atop the container", "B.put the shaving stick in the sink", "C.put the marker in the cup", "D.pull up the lever" ] }, { "task_id": "0002920", "task": "TrajChoice", "id": "RH20T_cfg3_task_0004_user_0016_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull the white fabric off the chair back, B.move the mug forward, C.pick up the small block on the right and move it to the left, D.put the marker in the left compartment of the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002920.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the white fabric off the chair back", "B.move the mug forward", "C.pick up the small block on the right and move it to the left", "D.put the marker in the left compartment of the box" ] }, { "task_id": "0002921", "task": "TrajChoice", "id": "RH20T_cfg6_task_0016_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn the right tap handle to the left, B.hang the hat on the hat, C.wipe the table with a white cloth, and then put the white cloth into the frame, D.hit the pool ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002921.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the right tap handle to the left", "B.hang the hat on the hat", "C.wipe the table with a white cloth, and then put the white cloth into the frame", "D.hit the pool ball" ] }, { "task_id": "0002922", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the mug from the left side of the table to the right side of the table, B.take the roll of paper down from the shelf, C.remove the lid from the silver pot and put it on the counter then push the faucet to the center of the sink, D.sweeping a small block with the gripper from left to right on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002922.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug from the left side of the table to the right side of the table", "B.take the roll of paper down from the shelf", "C.remove the lid from the silver pot and put it on the counter then push the faucet to the center of the sink", "D.sweeping a small block with the gripper from left to right on the table" ] }, { "task_id": "0002923", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the marker inside the cup, B.turn on the desk lamp by pressing the button, C.wiping the table with a towel, D.pick up the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002923.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the cup", "B.turn on the desk lamp by pressing the button", "C.wiping the table with a towel", "D.pick up the cup" ] }, { "task_id": "0002924", "task": "TrajChoice", "id": "RH20T_cfg2_task_0215_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.chop the potatoes, B.remove the marker from the red mug, C.open the microwave door, D.transfer the lid from the pot to the rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002924.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the potatoes", "B.remove the marker from the red mug", "C.open the microwave door", "D.transfer the lid from the pot to the rack" ] }, { "task_id": "0002925", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the bowl, B.close a sliding window, C.clean the tabletop with a sponge, D.place the protein bar in the center of the bottom shelf of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002925.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.close a sliding window", "C.clean the tabletop with a sponge", "D.place the protein bar in the center of the bottom shelf of the cabinet" ] }, { "task_id": "0002926", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker on the desk, B.put the can in the sink, C.place the handset of the telephone on the corresponding phone cradle, D.put the teabag in the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002926.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the desk", "B.put the can in the sink", "C.place the handset of the telephone on the corresponding phone cradle", "D.put the teabag in the mug" ] }, { "task_id": "0002927", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0014_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the yellow pen in the cup, B.put things in the drawer and close the drawer, C.pick up the pen from the table and put it in the bowl, D.move the large rectangle block from the small rectangle block to the square block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002927.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow pen in the cup", "B.put things in the drawer and close the drawer", "C.pick up the pen from the table and put it in the bowl", "D.move the large rectangle block from the small rectangle block to the square block" ] }, { "task_id": "0002928", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.tap the knife on the table, B.put the plush block on the plush block, C.unfold the towel and lay it flat on the countertop, D.put the toy into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002928.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.tap the knife on the table", "B.put the plush block on the plush block", "C.unfold the towel and lay it flat on the countertop", "D.put the toy into the bowl" ] }, { "task_id": "0002929", "task": "TrajChoice", "id": "RH20T_cfg6_task_0094_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the object from the scale, B.put the fabric on the seat cushion, C.open a box, D.put the rubber band on the cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002929.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.put the fabric on the seat cushion", "C.open a box", "D.put the rubber band on the cup" ] }, { "task_id": "0002930", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the transparent cup to the cup rack, B.press the switch on the wall to turn on the light, C.move the object from the right side of the stove to the left side of the stove, D.pick up the yellow block from the desk and put it in the yellow cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002930.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the transparent cup to the cup rack", "B.press the switch on the wall to turn on the light", "C.move the object from the right side of the stove to the left side of the stove", "D.pick up the yellow block from the desk and put it in the yellow cup" ] }, { "task_id": "0002931", "task": "TrajChoice", "id": "RH20T_cfg5_task_0103_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drag the plate to the goal post after holding it down, B.push the toaster lever down, C.moving the banana toy from the tray to the table, D.pour the contents of the transparent box into the transparent bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002931.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.push the toaster lever down", "C.moving the banana toy from the tray to the table", "D.pour the contents of the transparent box into the transparent bowl" ] }, { "task_id": "0002932", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the block on the table, B.put the blocks of the stack on the table, C.grasp the moving object, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002932.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the table", "B.put the blocks of the stack on the table", "C.grasp the moving object", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0002933", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the glue stick from the bowl and place it on the table, B.grab the block and place it at the designated location, C.put the lid on the cooker, D.turn off the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002933.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the glue stick from the bowl and place it on the table", "B.grab the block and place it at the designated location", "C.put the lid on the cooker", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0002934", "task": "TrajChoice", "id": "RH20T_cfg2_task_0045_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the mug to the left, B.wipe the table with the cloth, C.pick up the lid from the table and put it on the pot, D.pick up the brush and put it down on the desk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002934.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug to the left", "B.wipe the table with the cloth", "C.pick up the lid from the table and put it on the pot", "D.pick up the brush and put it down on the desk" ] }, { "task_id": "0002935", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the chopsticks through the white lid's hole, B.hold a small block with the gripper and sweep it from left to right on the table, C.press the button on the microwave, D.pour the water from one cup into another empty cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002935.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the chopsticks through the white lid's hole", "B.hold a small block with the gripper and sweep it from left to right on the table", "C.press the button on the microwave", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0002936", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug and place it on the table, B.place the handset of the telephone on the corresponding phone cradle, C.finish setting up the starting position of a chessboard that is almost arranged, D.turn the faucet handle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002936.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and place it on the table", "B.place the handset of the telephone on the corresponding phone cradle", "C.finish setting up the starting position of a chessboard that is almost arranged", "D.turn the faucet handle" ] }, { "task_id": "0002938", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use a tissue square to wipe the top of the wooden toy box, B.scoop something from the red bowl to the white bowl with a large spoon, C.installing the light bulb by rotating it, D.remove the pen from the cup and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002938.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a tissue square to wipe the top of the wooden toy box", "B.scoop something from the red bowl to the white bowl with a large spoon", "C.installing the light bulb by rotating it", "D.remove the pen from the cup and place it on the table" ] }, { "task_id": "0002939", "task": "TrajChoice", "id": "RH20T_cfg5_task_0074_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button horizontally, B.put the green marker in the green cup, C.move the tongs on to the coffee machine, D.unfold a piece of paper that has been folded in half once with one end pressed down by a weight], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002939.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.put the green marker in the green cup", "C.move the tongs on to the coffee machine", "D.unfold a piece of paper that has been folded in half once with one end pressed down by a weight" ] }, { "task_id": "0002940", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the screwdriver from the tray and put it on the table, B.take something out of the drawer, put it on the table, C.stacking blocks (small Lego) randomly one at a time, D.place the white object on top of the yoghurt], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002940.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the screwdriver from the tray and put it on the table", "B.take something out of the drawer, put it on the table", "C.stacking blocks (small Lego) randomly one at a time", "D.place the white object on top of the yoghurt" ] }, { "task_id": "0002941", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.stir the contents of the bowl with a spoon, B.put the green can in the left sink, C.press the button from top to bottom, D.pick up the plush toy and put it in the basket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002941.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stir the contents of the bowl with a spoon", "B.put the green can in the left sink", "C.press the button from top to bottom", "D.pick up the plush toy and put it in the basket" ] }, { "task_id": "0002942", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the ring on the cylinder, B.take the cup and the container on the left side of the table to the right side of the table, C.put the knife on the cutting board, D.place the green can on the left side of the countertop] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002942.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ring on the cylinder", "B.take the cup and the container on the left side of the table to the right side of the table", "C.put the knife on the cutting board", "D.place the green can on the left side of the countertop" ] }, { "task_id": "0002943", "task": "TrajChoice", "id": "RH20T_cfg5_task_0050_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the white plate on the dish rack, B.pick the red pepper and place it beside the green object on the desk, C.move the clear container from the top counter to the left side of the bottom cabinet, D.pick up the sneaker on the bottom shelf and place it on the top shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002943.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white plate on the dish rack", "B.pick the red pepper and place it beside the green object on the desk", "C.move the clear container from the top counter to the left side of the bottom cabinet", "D.pick up the sneaker on the bottom shelf and place it on the top shelf" ] }, { "task_id": "0002944", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the basket to the right, B.drag the plate to the goal post after holding it down, C.remove the pen from the clear cup, D.sliding the fabric on the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002944.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the basket to the right", "B.drag the plate to the goal post after holding it down", "C.remove the pen from the clear cup", "D.sliding the fabric on the desk" ] }, { "task_id": "0002945", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the cup on the cup rack, B.close the door, C.push the picture frame to the left, D.hang the cloth on the black stand] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002945.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.close the door", "C.push the picture frame to the left", "D.hang the cloth on the black stand" ] }, { "task_id": "0002946", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the black cloth to the backrest of the black chair, B.place the bubble ring to the left side of the block, C.put the wooden block in the transparent box, D.remove the pen from the grey bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002946.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black cloth to the backrest of the black chair", "B.place the bubble ring to the left side of the block", "C.put the wooden block in the transparent box", "D.remove the pen from the grey bowl" ] }, { "task_id": "0002947", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0003_cfg_0003_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button on the device, B.move the bowl from the table to the sink, C.put the pen into the pen holder, D.remove the marker from the silver pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002947.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the device", "B.move the bowl from the table to the sink", "C.put the pen into the pen holder", "D.remove the marker from the silver pot" ] }, { "task_id": "0002948", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the block into the basket, B.take out a Hanoi block and throw it aside, C.move the sharpie to the table, D.put the green snack pack into the black cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002948.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block into the basket", "B.take out a Hanoi block and throw it aside", "C.move the sharpie to the table", "D.put the green snack pack into the black cup" ] }, { "task_id": "0002949", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the fork on the blue cutlery holder on the left, B.pick up the lid and close the bowl, C.assemble: attach the bubble ring to the ball, D.move the clear bottle from the right side of the counter to the left side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002949.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork on the blue cutlery holder on the left", "B.pick up the lid and close the bowl", "C.assemble: attach the bubble ring to the ball", "D.move the clear bottle from the right side of the counter to the left side" ] }, { "task_id": "0002950", "task": "TrajChoice", "id": "RH20T_cfg3_task_0001_user_0016_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the contents of the bowl into the green bowl, B.put the pen inside the grey bowl, C.press the button from top to bottom, D.open the bedroom drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002950.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the bowl into the green bowl", "B.put the pen inside the grey bowl", "C.press the button from top to bottom", "D.open the bedroom drawer" ] }, { "task_id": "0002951", "task": "TrajChoice", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.stack the blocks in a vertical line of five, B.separate the two bowls, C.pour the contents in the clear jug into the red bowl, D.use the white towel to wipe the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002951.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the blocks in a vertical line of five", "B.separate the two bowls", "C.pour the contents in the clear jug into the red bowl", "D.use the white towel to wipe the table" ] }, { "task_id": "0002952", "task": "TrajChoice", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#315", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the blocks on the table, put the blocks on the table onto the green block, B.stack the blocks in a vertical line of five, C.put the lid on the spray bottle, D.move the pot lid] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002952.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blocks on the table, put the blocks on the table onto the green block", "B.stack the blocks in a vertical line of five", "C.put the lid on the spray bottle", "D.move the pot lid" ] }, { "task_id": "0002953", "task": "TrajChoice", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#469", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the object on the right side of the table, B.take the pen out of the mug and put it on the table, C.stack the blocks in a vertical line of five, D.put the paper towel roll on the paper towel rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002953.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the right side of the table", "B.take the pen out of the mug and put it on the table", "C.stack the blocks in a vertical line of five", "D.put the paper towel roll on the paper towel rack" ] }, { "task_id": "0002954", "task": "TrajChoice", "id": "RH20T_cfg2_task_0037_user_0007_scene_0002_cfg_0002_037522062165#609", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stack the blocks in a vertical line of five, B.put the orange can on the bottom shelf above the sink, C.put the green block inside the bowl, D.press the button on the microwave], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002954.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the blocks in a vertical line of five", "B.put the orange can on the bottom shelf above the sink", "C.put the green block inside the bowl", "D.press the button on the microwave" ] }, { "task_id": "0002955", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker into the white mug, B.place the animal print clothing on the backrest of the chair, C.place the block on the scale, D.move an object from one box to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002955.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the white mug", "B.place the animal print clothing on the backrest of the chair", "C.place the block on the scale", "D.move an object from one box to another" ] }, { "task_id": "0002956", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0016_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the bag from the left side to the right side, B.put the object on the left side of the table and put the object into the bowl, C.put the basketball in the drawer and close the drawer, D.place the handset of the telephone on the corresponding phone cradle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002956.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag from the left side to the right side", "B.put the object on the left side of the table and put the object into the bowl", "C.put the basketball in the drawer and close the drawer", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0002957", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.clean the tabletop with a sponge, B.place the bowl in the microwave, C.take the lid from the pot and place it on the table, D.close the cabinet door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002957.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.place the bowl in the microwave", "C.take the lid from the pot and place it on the table", "D.close the cabinet door" ] }, { "task_id": "0002958", "task": "TrajChoice", "id": "RH20T_cfg1_task_0014_user_0001_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the object from the scale, B.take the marker out of the grey bowl and place it on the table, C.put the cup in the bowl, D.open the drawer under the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002958.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.take the marker out of the grey bowl and place it on the table", "C.put the cup in the bowl", "D.open the drawer under the sink" ] }, { "task_id": "0002959", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wiping the blackboard, B.screw the lid onto the jar (needs to be turned), C.put the pen in the mug, D.move the tap to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002959.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the blackboard", "B.screw the lid onto the jar (needs to be turned)", "C.put the pen in the mug", "D.move the tap to the right" ] }, { "task_id": "0002960", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the small block to the right, B.open the topmost drawer on the right side under the table, C.remove the marker from the bowl, D.place the pen inside the mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002960.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block to the right", "B.open the topmost drawer on the right side under the table", "C.remove the marker from the bowl", "D.place the pen inside the mug" ] }, { "task_id": "0002961", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0006_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the object from the mug, B.grasp the handle and close the drawer, C.move the bowl backwards, D.pick up the snack and put it on the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002961.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the mug", "B.grasp the handle and close the drawer", "C.move the bowl backwards", "D.pick up the snack and put it on the shelf" ] }, { "task_id": "0002962", "task": "TrajChoice", "id": "RH20T_cfg4_task_0031_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the zip to the left, B.cover the box, C.place the bottle on the table into the basket, D.put the brown block in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002962.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the zip to the left", "B.cover the box", "C.place the bottle on the table into the basket", "D.put the brown block in the bowl" ] }, { "task_id": "0002963", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasp the moving object, B.move the marker from the cup to the table, C.pour the contents from the brown bag into the bowl, D.move the grey container to the right side of the bed, then put the lid on top of the grey container], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002963.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the moving object", "B.move the marker from the cup to the table", "C.pour the contents from the brown bag into the bowl", "D.move the grey container to the right side of the bed, then put the lid on top of the grey container" ] }, { "task_id": "0002964", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.play the drum, B.put the silver spoon on the right, C.move the orange bottle close to the blue cup, D.press a button on the microwave] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002964.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the drum", "B.put the silver spoon on the right", "C.move the orange bottle close to the blue cup", "D.press a button on the microwave" ] }, { "task_id": "0002965", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the tray on the box to the right, B.take something out of a drawer, C.take out a Hanoi block and throw it aside, D.transfer the lid from the pot to the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002965.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the tray on the box to the right", "B.take something out of a drawer", "C.take out a Hanoi block and throw it aside", "D.transfer the lid from the pot to the table" ] }, { "task_id": "0002966", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the paper with the back side up on the table, B.transfer the tool from the holder to the cup, C.put the marker in the cup, D.put the object into the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002966.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the paper with the back side up on the table", "B.transfer the tool from the holder to the cup", "C.put the marker in the cup", "D.put the object into the drawer" ] }, { "task_id": "0002967", "task": "TrajChoice", "id": "RH20T_cfg7_task_0066_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the bottle to the left, B.put the bottle on the table, C.insert the large light blue Megablok from the table into the grid, D.press the machine button] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002967.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle to the left", "B.put the bottle on the table", "C.insert the large light blue Megablok from the table into the grid", "D.press the machine button" ] }, { "task_id": "0002968", "task": "TrajChoice", "id": "RH20T_cfg4_task_0075_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wipe the whiteboard with a blackboard eraser, B.finish setting up the starting position of a chessboard that is almost arranged, C.close the wooden cube completely, D.move the ball from the table and place it into the green bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002968.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the whiteboard with a blackboard eraser", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.close the wooden cube completely", "D.move the ball from the table and place it into the green bowl" ] }, { "task_id": "0002969", "task": "TrajChoice", "id": "RH20T_cfg6_task_0038_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the cup and place it in the middle of the table, B.put the can on the metal object, C.place an orange jar on the stack of coasters, D.press the first button on top of the machine] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002969.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup and place it in the middle of the table", "B.put the can on the metal object", "C.place an orange jar on the stack of coasters", "D.press the first button on top of the machine" ] }, { "task_id": "0002970", "task": "TrajChoice", "id": "RH20T_cfg5_task_0002_user_0014_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the object on the table, B.put the marker in the top rectangular area, C.pull out a napkin, D.scoop water with a large spoon from one bowl to another], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002970.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the table", "B.put the marker in the top rectangular area", "C.pull out a napkin", "D.scoop water with a large spoon from one bowl to another" ] }, { "task_id": "0002971", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the white bottle from the scale to the middle of the table, B.play the drum, C.remove the lid from the black pot, D.pick up the toothpaste from the countertop and move it forward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002971.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white bottle from the scale to the middle of the table", "B.play the drum", "C.remove the lid from the black pot", "D.pick up the toothpaste from the countertop and move it forward" ] }, { "task_id": "0002972", "task": "TrajChoice", "id": "RH20T_cfg1_task_0089_user_0010_scene_0004_cfg_0001_819112070044#76", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the switch of the desktop machine, B.take out the red object from the box and place it on the table, C.push the left cabinet's bottom drawer to close it, D.push an object with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002972.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch of the desktop machine", "B.take out the red object from the box and place it on the table", "C.push the left cabinet's bottom drawer to close it", "D.push an object with obstacles" ] }, { "task_id": "0002973", "task": "TrajChoice", "id": "RH20T_cfg3_task_0043_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the marker on the table, B.put the black marker in the silver pot, C.unscrew the lid from the jar, D.open the bottom drawer of the cabinet to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002973.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the table", "B.put the black marker in the silver pot", "C.unscrew the lid from the jar", "D.open the bottom drawer of the cabinet to the right" ] }, { "task_id": "0002974", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the gray item on the table into the transparent cup, B.turn on the faucet, C.move the white bar of soap to the right side of the countertop, D.pick up a small block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002974.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the gray item on the table into the transparent cup", "B.turn on the faucet", "C.move the white bar of soap to the right side of the countertop", "D.pick up a small block" ] }, { "task_id": "0002975", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0014_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the lid on the pot, B.move the mug forward slightly, C.swat with a flyswatter, D.put the black lid from the grey pot to the top of the grey pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002975.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.move the mug forward slightly", "C.swat with a flyswatter", "D.put the black lid from the grey pot to the top of the grey pot" ] }, { "task_id": "0002976", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the black mug to the left, B.move the object from the left table to the right table, C.grasp the handle and close the drawer, D.put the hat on top of the cupboard] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002976.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black mug to the left", "B.move the object from the left table to the right table", "C.grasp the handle and close the drawer", "D.put the hat on top of the cupboard" ] }, { "task_id": "0002977", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0009_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.use a cloth to wipe the pan, B.wave the flag, C.put the brown block into the bowl, D.pick up the screwdriver from the top of the side table, place it in the open drawer and close the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002977.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a cloth to wipe the pan", "B.wave the flag", "C.put the brown block into the bowl", "D.pick up the screwdriver from the top of the side table, place it in the open drawer and close the drawer" ] }, { "task_id": "0002978", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.wipe the table with a towel, B.swat with a flyswatter, C.move the bowl into the cabinet, D.press the sponge] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002978.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with a towel", "B.swat with a flyswatter", "C.move the bowl into the cabinet", "D.press the sponge" ] }, { "task_id": "0002979", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0001_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push down the toaster lever, B.take out a Hanoi block and throw it aside, C.put the cup into the plate, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002979.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the toaster lever", "B.take out a Hanoi block and throw it aside", "C.put the cup into the plate", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0002980", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the pack of snack and put it in the sink, B.plug in the bulb holder to the socket, C.turn off the desk lamp, D.put the clear container on the counter above the stove] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002980.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pack of snack and put it in the sink", "B.plug in the bulb holder to the socket", "C.turn off the desk lamp", "D.put the clear container on the counter above the stove" ] }, { "task_id": "0002981", "task": "TrajChoice", "id": "RH20T_cfg7_task_0051_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.twist the lid on the bottle, B.put the carrot plush toy in the pot in the sink, C.put the wire scourer in the pot, D.take a dish off the dish rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002981.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.twist the lid on the bottle", "B.put the carrot plush toy in the pot in the sink", "C.put the wire scourer in the pot", "D.take a dish off the dish rack" ] }, { "task_id": "0002982", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the positive clamp from the table and hang it on the electrical box, B.push down the lever, C.holding a small block with the gripper and sweeping it from left to right on the table, D.put the cloth in the bag], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002982.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the positive clamp from the table and hang it on the electrical box", "B.push down the lever", "C.holding a small block with the gripper and sweeping it from left to right on the table", "D.put the cloth in the bag" ] }, { "task_id": "0002983", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the ring on the table, B.take the marker out of the mug and put it on the table, C.move the tall cylindrical block backwards, D.use the gripper to push the small block from left to right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002983.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ring on the table", "B.take the marker out of the mug and put it on the table", "C.move the tall cylindrical block backwards", "D.use the gripper to push the small block from left to right" ] }, { "task_id": "0002984", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the marker from the mug and put it on the table, B.pick up the orange ring from the table and put it on the wooden object, C.place the handset of the telephone on the corresponding phone cradle, D.drag the plate to the goal post after holding it down], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002984.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug and put it on the table", "B.pick up the orange ring from the table and put it on the wooden object", "C.place the handset of the telephone on the corresponding phone cradle", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0002985", "task": "TrajChoice", "id": "RH20T_cfg6_task_0017_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.open the right door of the cabinet, C.turn the tap to the right, D.press the adapter switch], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002985.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.open the right door of the cabinet", "C.turn the tap to the right", "D.press the adapter switch" ] }, { "task_id": "0002986", "task": "TrajChoice", "id": "RH20T_cfg6_task_0101_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the object slightly to the left of the table, B.put the yellow block in the cup, C.put the black small ball on the table into the green bowl, D.clean the table with a cloth], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002986.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object slightly to the left of the table", "B.put the yellow block in the cup", "C.put the black small ball on the table into the green bowl", "D.clean the table with a cloth" ] }, { "task_id": "0002987", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the roll of paper down from the shelf and place it on the table, B.take the black marker out of the glass, C.move the can from the sink to the countertop, D.move the gray towel to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002987.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf and place it on the table", "B.take the black marker out of the glass", "C.move the can from the sink to the countertop", "D.move the gray towel to the right" ] }, { "task_id": "0002988", "task": "TrajChoice", "id": "RH20T_cfg4_task_0063_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.close a sliding window, B.put the piece of paper in the glass bowl, C.take the yellow object closest to you and move it away from you then move the right yellow object to the right of the black basket, D.push the box with a shovel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002988.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.put the piece of paper in the glass bowl", "C.take the yellow object closest to you and move it away from you then move the right yellow object to the right of the black basket", "D.push the box with a shovel" ] }, { "task_id": "0002989", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the blanket on the seat of the chair then move it to the backrest of the chair, B.put the pot lid into the open drawer from the tabletop, C.open the drawer, D.put the pen into the pen holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002989.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blanket on the seat of the chair then move it to the backrest of the chair", "B.put the pot lid into the open drawer from the tabletop", "C.open the drawer", "D.put the pen into the pen holder" ] }, { "task_id": "0002990", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the water tap, B.move the cup to the left, C.move the white bowl to the right side of the sink, D.put the pen into the pen holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002990.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.move the cup to the left", "C.move the white bowl to the right side of the sink", "D.put the pen into the pen holder" ] }, { "task_id": "0002991", "task": "TrajChoice", "id": "RH20T_cfg1_task_0004_user_0004_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the knife on the cutting board, B.press the button of the coffee machine, C.pick up the towel, sweep the objects on the table to the left and put the towel in the container, D.pick up the small block on the left and move it to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002991.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.press the button of the coffee machine", "C.pick up the towel, sweep the objects on the table to the left and put the towel in the container", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0002992", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the black shirt in the open drawer, B.push the lever on the toaster downwards, C.take the cup off the cup rack, D.take the glass bottle on the board and put it on the desk] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002992.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black shirt in the open drawer", "B.push the lever on the toaster downwards", "C.take the cup off the cup rack", "D.take the glass bottle on the board and put it on the desk" ] }, { "task_id": "0002993", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the object from the scale, B.hold a small block with the gripper and sweep it from left to right on the table, C.push the refrigerator door to close, D.place the hanger on the upper shelf], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002993.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.hold a small block with the gripper and sweep it from left to right on the table", "C.push the refrigerator door to close", "D.place the hanger on the upper shelf" ] }, { "task_id": "0002994", "task": "TrajChoice", "id": "RH20T_cfg7_task_0063_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use a shovel to scoop up an object, B.take the sachet out of the box and place it on the table, C.rotate the shoe clockwise on the shelf to face the front, D.place the remote control on the armrest of the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002994.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a shovel to scoop up an object", "B.take the sachet out of the box and place it on the table", "C.rotate the shoe clockwise on the shelf to face the front", "D.place the remote control on the armrest of the chair" ] }, { "task_id": "0002995", "task": "TrajChoice", "id": "RH20T_cfg1_task_0102_user_0010_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the hands of a clock, B.press the button from top to bottom, C.press the button horizontally, D.scrubbing the table with a brush], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002995.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.press the button from top to bottom", "C.press the button horizontally", "D.scrubbing the table with a brush" ] }, { "task_id": "0002996", "task": "TrajChoice", "id": "RH20T_cfg5_task_0051_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the right file cabinet drawer, B.take the dish off the dish rack, C.push the towel to the left side of the table, D.fold the yellow rag on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002996.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the right file cabinet drawer", "B.take the dish off the dish rack", "C.push the towel to the left side of the table", "D.fold the yellow rag on the table" ] }, { "task_id": "0002997", "task": "TrajChoice", "id": "RH20T_cfg4_task_0119_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.fold the green towel, B.move the marker out of the white cup and place it on the table, C.transfer some beans to the plate on the right, D.turn off the water tap] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002997.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the green towel", "B.move the marker out of the white cup and place it on the table", "C.transfer some beans to the plate on the right", "D.turn off the water tap" ] }, { "task_id": "0002998", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the spoon out of the white mug, B.place the block on the scale, C.transferring water from a pot to a bowl with a large spoon, D.knock over the cup in the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002998.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the spoon out of the white mug", "B.place the block on the scale", "C.transferring water from a pot to a bowl with a large spoon", "D.knock over the cup in the sink" ] }, { "task_id": "0002999", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use a clamp, B.put the marker in the cup, C.slice the carrots, D.screw the lid onto the jar], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0002999.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a clamp", "B.put the marker in the cup", "C.slice the carrots", "D.screw the lid onto the jar" ] }, { "task_id": "0003000", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the silver bowl on the side of the table, B.close the open drawer, C.pick up the white rope from the table and put it in the box, D.pick up the small block on the right and move it to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003000.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the silver bowl on the side of the table", "B.close the open drawer", "C.pick up the white rope from the table and put it in the box", "D.pick up the small block on the right and move it to the left" ] }, { "task_id": "0003001", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the black clothing on the table, B.slice the lotus root, C.press the side of the small block, D.take the checkered shirt from the chair seat and place it on the chair back] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003001.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black clothing on the table", "B.slice the lotus root", "C.press the side of the small block", "D.take the checkered shirt from the chair seat and place it on the chair back" ] }, { "task_id": "0003002", "task": "TrajChoice", "id": "RH20T_cfg5_task_0021_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the white cup on the plate, B.put the napkin on the white and blue packaging box, C.pick up the lid and place it on the teapot, D.turn off the desk lamp by pressing the button] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003002.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cup on the plate", "B.put the napkin on the white and blue packaging box", "C.pick up the lid and place it on the teapot", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003003", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker inside the cup, B.moving the cup from the left side of the table to the right side, C.wipe the tabletop with a pink towel, D.pull the roll of paper onto the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003003.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker inside the cup", "B.moving the cup from the left side of the table to the right side", "C.wipe the tabletop with a pink towel", "D.pull the roll of paper onto the table" ] }, { "task_id": "0003004", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.lay out the gray cloth, B.stack the cups, C.transfer the block from the table to the bowl, D.take the roll of paper down from the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003004.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lay out the gray cloth", "B.stack the cups", "C.transfer the block from the table to the bowl", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0003005", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup on the cup rack, B.move the red hat to the right, C.push the soccer ball into the goal, D.turn off the first switch on the extension cord] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003005.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.move the red hat to the right", "C.push the soccer ball into the goal", "D.turn off the first switch on the extension cord" ] }, { "task_id": "0003006", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the blocks in the block bag, B.put the things in the drawer, close the drawer, C.put the lid on the pot, D.pick up the object and put it in the plastic container] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003006.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blocks in the block bag", "B.put the things in the drawer, close the drawer", "C.put the lid on the pot", "D.pick up the object and put it in the plastic container" ] }, { "task_id": "0003007", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0001_cfg_0002_105422061350#440", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the things in the drawer, close the drawer, B.move the yellow block to the bottom left corner, C.put the marker in the white cup, D.chop the chili peppers] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003007.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the things in the drawer, close the drawer", "B.move the yellow block to the bottom left corner", "C.put the marker in the white cup", "D.chop the chili peppers" ] }, { "task_id": "0003008", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.assemble: attach the bubble ring to the ball, B.water the plant, C.put the object into the container, D.take the roll of paper down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003008.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.water the plant", "C.put the object into the container", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0003009", "task": "TrajChoice", "id": "RH20T_cfg6_task_0055_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull out a napkin, B.transfer liquid using a dropper, C.close the book, D.transfer the spoon from the bowl to the counter], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003009.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.transfer liquid using a dropper", "C.close the book", "D.transfer the spoon from the bowl to the counter" ] }, { "task_id": "0003010", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.grasp a small block to sweep another small block into the designated position, B.turn on the desk lamp, C.put the cups into one another, D.move the black mug from the left side to the right side] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003010.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp a small block to sweep another small block into the designated position", "B.turn on the desk lamp", "C.put the cups into one another", "D.move the black mug from the left side to the right side" ] }, { "task_id": "0003011", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.cover the small silver pot with a lid, B.take the lid off the pot, C.push a block on the desktop, D.scrubbing the table with a brush] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003011.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the small silver pot with a lid", "B.take the lid off the pot", "C.push a block on the desktop", "D.scrubbing the table with a brush" ] }, { "task_id": "0003012", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.cover the kettle with the lid, B.clean the table with a cloth, C.push the object on the cup cover to the left, D.open the drawer of the left washing machine] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003012.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the kettle with the lid", "B.clean the table with a cloth", "C.push the object on the cup cover to the left", "D.open the drawer of the left washing machine" ] }, { "task_id": "0003013", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the knife on the cutting board, B.put the toy into the green bowl, C.put the cup into the bowl, D.move the cup next to the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003013.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the cutting board", "B.put the toy into the green bowl", "C.put the cup into the bowl", "D.move the cup next to the cup" ] }, { "task_id": "0003014", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the detergent box forward and place the cup at the edge of the washing machine, B.use the towel to wipe the countertop, C.move the bag on the shoe rack to the coat rack, D.grasp the handle and open the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003014.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the detergent box forward and place the cup at the edge of the washing machine", "B.use the towel to wipe the countertop", "C.move the bag on the shoe rack to the coat rack", "D.grasp the handle and open the drawer" ] }, { "task_id": "0003015", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the object from the table to the bowl, B.transfer the block from the block to the desktop, C.place the block on the scale, D.turn the tap nozzle from the right to the middle then lift the tap handle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003015.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object from the table to the bowl", "B.transfer the block from the block to the desktop", "C.place the block on the scale", "D.turn the tap nozzle from the right to the middle then lift the tap handle" ] }, { "task_id": "0003016", "task": "TrajChoice", "id": "RH20T_cfg5_task_0021_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the purple toy and put it on the countertop, B.put the marker from the bowl onto the table, C.turn off the desk lamp by pressing the button, D.place the object from the bowl on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003016.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the purple toy and put it on the countertop", "B.put the marker from the bowl onto the table", "C.turn off the desk lamp by pressing the button", "D.place the object from the bowl on the table" ] }, { "task_id": "0003017", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object on the plane, B.put the object with the corresponding shape into the corresponding hole, C.grasp a small block to sweep the other small block into the designated position, D.put the blue flag from the black cup onto the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003017.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the plane", "B.put the object with the corresponding shape into the corresponding hole", "C.grasp a small block to sweep the other small block into the designated position", "D.put the blue flag from the black cup onto the table" ] }, { "task_id": "0003018", "task": "TrajChoice", "id": "RH20T_cfg3_task_0031_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the oven door, B.drop coins into a piggy bank, C.cover the box, D.pick up a bag of things], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003018.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the oven door", "B.drop coins into a piggy bank", "C.cover the box", "D.pick up a bag of things" ] }, { "task_id": "0003019", "task": "TrajChoice", "id": "RH20T_cfg7_task_0226_user_0066_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.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, B.stack up the small blocks, C.place the jar on the tray, D.move the cup to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003019.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.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", "B.stack up the small blocks", "C.place the jar on the tray", "D.move the cup to the left" ] }, { "task_id": "0003020", "task": "TrajChoice", "id": "RH20T_cfg4_task_0090_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.approach and touch an object with obstacles, B.the bottle is taken out and placed on the table, C.pick up the block and put it down on the right, D.take the toy to the right side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003020.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch an object with obstacles", "B.the bottle is taken out and placed on the table", "C.pick up the block and put it down on the right", "D.take the toy to the right side of the table" ] }, { "task_id": "0003021", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the purple cloth to the bottom right corner of the desk, B.insert the pencil into the pencil sharpener, C.put the glass cup onto the shelf, D.put the blue bowl in the storage bin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003021.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the purple cloth to the bottom right corner of the desk", "B.insert the pencil into the pencil sharpener", "C.put the glass cup onto the shelf", "D.put the blue bowl in the storage bin" ] }, { "task_id": "0003022", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0020_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the roll of paper down from the shelf and place it on the table, B.pick up the cup, C.press the button, D.transfer the toy from the bowl to the stove, transfer the bowl from the stove to the left side of the stove], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003022.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf and place it on the table", "B.pick up the cup", "C.press the button", "D.transfer the toy from the bowl to the stove, transfer the bowl from the stove to the left side of the stove" ] }, { "task_id": "0003023", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the cup on the side of the table, B.close the cupboard door, C.move the white object to the right, D.remove the bubble ring from the assembled bubble ring and ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003023.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup on the side of the table", "B.close the cupboard door", "C.move the white object to the right", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0003024", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.finish setting up the starting position of a chessboard that is almost arranged, B.pour the object in the cup into the bowl, C.transfer the block onto the block, D.uncover the jar and put the lid on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003024.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.pour the object in the cup into the bowl", "C.transfer the block onto the block", "D.uncover the jar and put the lid on the table" ] }, { "task_id": "0003025", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.place the handset of the telephone on the corresponding phone cradle, B.push the small block from right to left, C.pour the contents from the orange bag into the black bowl, D.grasp the handle and close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003025.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.push the small block from right to left", "C.pour the contents from the orange bag into the black bowl", "D.grasp the handle and close the drawer" ] }, { "task_id": "0003027", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0020_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the orange tool in the black bowl, B.open the trash can lid, C.pick up the cloth and hang it on the object, D.pick up a bag of things], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003027.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange tool in the black bowl", "B.open the trash can lid", "C.pick up the cloth and hang it on the object", "D.pick up a bag of things" ] }, { "task_id": "0003028", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object into the bowl, B.put the bowl on the coffee maker, C.take a bottle out of the crate, D.place the block on the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003028.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.put the bowl on the coffee maker", "C.take a bottle out of the crate", "D.place the block on the scale" ] }, { "task_id": "0003029", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the marker from the green mug, B.turn on the light switch, C.sharpen the pencil with a pencil sharpener, D.remove the lid from the black pot on the bottom right plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003029.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the green mug", "B.turn on the light switch", "C.sharpen the pencil with a pencil sharpener", "D.remove the lid from the black pot on the bottom right plate" ] }, { "task_id": "0003030", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the cup, B.place the block on the scale, C.take the white cloth from the black hanger and place it on the table, D.take the towel to the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003030.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.place the block on the scale", "C.take the white cloth from the black hanger and place it on the table", "D.take the towel to the left side of the table" ] }, { "task_id": "0003031", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the yellow item in the blue pot, B.put the tape on the table, C.pick up the cup from the table and pour some of its contents into the orange bowl, D.drag the plate to the goal post after holding it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003031.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow item in the blue pot", "B.put the tape on the table", "C.pick up the cup from the table and pour some of its contents into the orange bowl", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0003032", "task": "TrajChoice", "id": "RH20T_cfg4_task_0021_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the orange pen from the table and put it inside the clear cup, B.remove the cob of maize from the blue plate and put it on the left side of the counter, move the faucet to the right, C.put the remote control on the TV stand, D.turn off the desk lamp by pressing the button], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003032.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the orange pen from the table and put it inside the clear cup", "B.remove the cob of maize from the blue plate and put it on the left side of the counter, move the faucet to the right", "C.put the remote control on the TV stand", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003033", "task": "TrajChoice", "id": "RH20T_cfg1_task_0208_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the small tongs to the right, B.put the marker in the bowl, C.slice the lotus root, D.remove the marker from the mug cup and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003033.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small tongs to the right", "B.put the marker in the bowl", "C.slice the lotus root", "D.remove the marker from the mug cup and place it on the table" ] }, { "task_id": "0003034", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the plastic object into the white plate, B.press the power button on the desktop machine, C.put the pen into the pen holder, D.transfer the bottle from the shelf to the right side of the shelf] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003034.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the plastic object into the white plate", "B.press the power button on the desktop machine", "C.put the pen into the pen holder", "D.transfer the bottle from the shelf to the right side of the shelf" ] }, { "task_id": "0003035", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0020_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.sharpen the pencil with a pencil sharpener, B.grasping the moving object, C.close the gray bottom drawer, D.move the charging cable from the left side to the right side], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003035.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sharpen the pencil with a pencil sharpener", "B.grasping the moving object", "C.close the gray bottom drawer", "D.move the charging cable from the left side to the right side" ] }, { "task_id": "0003036", "task": "TrajChoice", "id": "RH20T_cfg4_task_0026_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the drawer to the closed position, B.put the orange cube on the green cube, C.place the bowl on the table, D.close a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003036.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer to the closed position", "B.put the orange cube on the green cube", "C.place the bowl on the table", "D.close a sliding window" ] }, { "task_id": "0003037", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press a button, B.open the cap on the silver bottle, C.put the blocks in the box onto the blocks, D.pour the things in the orange cup onto the plate], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003037.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button", "B.open the cap on the silver bottle", "C.put the blocks in the box onto the blocks", "D.pour the things in the orange cup onto the plate" ] }, { "task_id": "0003039", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the pen from the mug and put it on the counter, B.press the buttons on the remote, C.remove the block from the scale, D.take the object down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003039.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the mug and put it on the counter", "B.press the buttons on the remote", "C.remove the block from the scale", "D.take the object down from the shelf" ] }, { "task_id": "0003040", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the soda can from the cabinet to the countertop, B.put the object on the shelf, C.plug in the USB drive to the docking station, D.take the lid off the table and put it on the black pan] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003040.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the soda can from the cabinet to the countertop", "B.put the object on the shelf", "C.plug in the USB drive to the docking station", "D.take the lid off the table and put it on the black pan" ] }, { "task_id": "0003041", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf and throw it on the table, B.rotate the lid on the bottle clockwise, C.move the spoon to the table next to the metal spoon, D.turn the caps on the bed], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003041.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf and throw it on the table", "B.rotate the lid on the bottle clockwise", "C.move the spoon to the table next to the metal spoon", "D.turn the caps on the bed" ] }, { "task_id": "0003042", "task": "TrajChoice", "id": "RH20T_cfg7_task_0005_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.approach and touch the side of the small block, B.move the can from the sink to the countertop, C.pick up the blue cup and pour its contents into the bowl, D.pick up the cup] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003042.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.move the can from the sink to the countertop", "C.pick up the blue cup and pour its contents into the bowl", "D.pick up the cup" ] }, { "task_id": "0003043", "task": "TrajChoice", "id": "RH20T_cfg6_task_0206_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.close the drawer, B.turn off the light, C.rotate the iron counterclockwise and place it on the fabric, D.chop the green garlic] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003043.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.turn off the light", "C.rotate the iron counterclockwise and place it on the fabric", "D.chop the green garlic" ] }, { "task_id": "0003044", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the object to the top of the drawer and then put it down, B.sweeping a small block on the table from right to left, C.put the transparent box into the sink, D.remove the marker from the mug and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003044.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the top of the drawer and then put it down", "B.sweeping a small block on the table from right to left", "C.put the transparent box into the sink", "D.remove the marker from the mug and place it on the table" ] }, { "task_id": "0003045", "task": "TrajChoice", "id": "RH20T_cfg4_task_0050_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the wooden spatula from the chopping board, use it to stir the contents in the pot, then place the spatula back on the chopping board, B.put the dish on the dish rack, C.move the green cup to the designated position, D.put the rope in the box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003045.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the wooden spatula from the chopping board, use it to stir the contents in the pot, then place the spatula back on the chopping board", "B.put the dish on the dish rack", "C.move the green cup to the designated position", "D.put the rope in the box" ] }, { "task_id": "0003046", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the top drawer of the white file cabinet, B.open the cabinet door, C.grab the block and place it at the designated location, D.fold the green cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003046.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the white file cabinet", "B.open the cabinet door", "C.grab the block and place it at the designated location", "D.fold the green cloth" ] }, { "task_id": "0003047", "task": "TrajChoice", "id": "RH20T_cfg5_task_0033_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.moving the black fabric from the cabinet to the ground, B.bring the white plate closer to the wall, C.throw the pen onto the table, D.grasp a small block to push another small block into the designated position], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003047.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the black fabric from the cabinet to the ground", "B.bring the white plate closer to the wall", "C.throw the pen onto the table", "D.grasp a small block to push another small block into the designated position" ] }, { "task_id": "0003048", "task": "TrajChoice", "id": "RH20T_cfg5_task_0007_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push the small block to the left on the table, B.take the pen from the cup and put it on the table, C.pick the serving spoon from the rack, use it to open the cabinet door, then place it back on the rack, D.put the pineapple plush toy in the black pot, and the pear in the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003048.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block to the left on the table", "B.take the pen from the cup and put it on the table", "C.pick the serving spoon from the rack, use it to open the cabinet door, then place it back on the rack", "D.put the pineapple plush toy in the black pot, and the pear in the box" ] }, { "task_id": "0003049", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the glasses on the table into the table, B.stack up the small blocks, C.put the box on the small container, D.close the book on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003049.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glasses on the table into the table", "B.stack up the small blocks", "C.put the box on the small container", "D.close the book on the table" ] }, { "task_id": "0003050", "task": "TrajChoice", "id": "RH20T_cfg2_task_0070_user_0014_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the top drawer of the file cabinet to the left, B.open a sliding window, C.put the yellow marker inside the red mug, D.put the bottle on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003050.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the top drawer of the file cabinet to the left", "B.open a sliding window", "C.put the yellow marker inside the red mug", "D.put the bottle on the table" ] }, { "task_id": "0003051", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold the orange shirt, B.close the open drawer on the beige cabinet, C.clean the table with a cloth, D.play the first move as black on the 3-4 point in the upper right corner of the Go board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003051.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the orange shirt", "B.close the open drawer on the beige cabinet", "C.clean the table with a cloth", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0003052", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker from the table and place it in the glass cup, B.open the tap, C.turn on the power strip by pressing the button, D.place the green object into the black bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003052.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the table and place it in the glass cup", "B.open the tap", "C.turn on the power strip by pressing the button", "D.place the green object into the black bowl" ] }, { "task_id": "0003054", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the yellow pepper to the front left, B.pick up the lid and put it on the pot, C.remove the object from the scale, D.move the gift bag from the shelf to the rack] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003054.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the yellow pepper to the front left", "B.pick up the lid and put it on the pot", "C.remove the object from the scale", "D.move the gift bag from the shelf to the rack" ] }, { "task_id": "0003055", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the cable out of the grey bowl and place it onto the table, B.pour the water from a cup into another empty cup, C.stacking blocks (small Lego) one on top of the other every time, D.push the soccer ball into the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003055.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cable out of the grey bowl and place it onto the table", "B.pour the water from a cup into another empty cup", "C.stacking blocks (small Lego) one on top of the other every time", "D.push the soccer ball into the goal" ] }, { "task_id": "0003056", "task": "TrajChoice", "id": "RH20T_cfg5_task_0068_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the bottle in the right pot, B.put the toy in the bottom right corner of the table to the top left corner, C.press the button on the white base, D.push the soccer ball into the goal] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003056.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the right pot", "B.put the toy in the bottom right corner of the table to the top left corner", "C.press the button on the white base", "D.push the soccer ball into the goal" ] }, { "task_id": "0003057", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the marker from the bowl and put it on the table, B.pick up the pen and put it in the cup, C.clean the tabletop with a sponge, D.put the clothes on the back of the chair], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003057.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the bowl and put it on the table", "B.pick up the pen and put it in the cup", "C.clean the tabletop with a sponge", "D.put the clothes on the back of the chair" ] }, { "task_id": "0003058", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.insert the pencil into the pencil sharpener, B.Arrange the bottles and jars on the plate, C.place the pen in the mug, D.move the bowl to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003058.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.Arrange the bottles and jars on the plate", "C.place the pen in the mug", "D.move the bowl to the right" ] }, { "task_id": "0003059", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.throw the block on the table, B.pick up the plate from the dishwasher and put it on the counter, C.pick the bottle and stand it upright, D.transfer the object from the cabinet to the door] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003059.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the block on the table", "B.pick up the plate from the dishwasher and put it on the counter", "C.pick the bottle and stand it upright", "D.transfer the object from the cabinet to the door" ] }, { "task_id": "0003061", "task": "TrajChoice", "id": "RH20T_cfg3_task_0070_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker in the bowl, B.open a sliding window, C.remove the brown object from the pot, D.put the item in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003061.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.open a sliding window", "C.remove the brown object from the pot", "D.put the item in the bowl" ] }, { "task_id": "0003062", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the object from the scale, B.stir the beaker with a glass rod, C.move the green mug from right to left, D.put the black flask on the right side of the countertop, the blue bottle on the left side], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003062.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.stir the beaker with a glass rod", "C.move the green mug from right to left", "D.put the black flask on the right side of the countertop, the blue bottle on the left side" ] }, { "task_id": "0003063", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0020_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the lid on the table next to the right cup of water, B.take the pen out of the mug and put it on the table, C.pick up the pen from the table and put it in the cup, D.pick up a bag of things], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003063.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the table next to the right cup of water", "B.take the pen out of the mug and put it on the table", "C.pick up the pen from the table and put it in the cup", "D.pick up a bag of things" ] }, { "task_id": "0003064", "task": "TrajChoice", "id": "RH20T_cfg5_task_0080_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stretch the rope on the platform, B.flip over and spread out the paper that is laid flat on the table, C.put the grey cup in the orange cup, D.move the box from the inside of the cabinet to the top of the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003064.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stretch the rope on the platform", "B.flip over and spread out the paper that is laid flat on the table", "C.put the grey cup in the orange cup", "D.move the box from the inside of the cabinet to the top of the cabinet" ] }, { "task_id": "0003065", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0016_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pour out the contents of the cup and stand the poured-out object upright, B.grasp the moving object, C.push the tin up on the desk, D.put the yellow block into the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003065.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour out the contents of the cup and stand the poured-out object upright", "B.grasp the moving object", "C.push the tin up on the desk", "D.put the yellow block into the box" ] }, { "task_id": "0003066", "task": "TrajChoice", "id": "RH20T_cfg5_task_0067_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.press a button from top to bottom with obstacles, B.turn off the switch, C.throw the block into the light blue cup, D.take the marker from the table and put it in the white cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003066.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button from top to bottom with obstacles", "B.turn off the switch", "C.throw the block into the light blue cup", "D.take the marker from the table and put it in the white cup" ] }, { "task_id": "0003067", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the USB drive and plug it into the docking station, B.put the object on the table, C.unfold a piece of paper that has been folded once and has a weight pressing down on one end, D.open the book on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003067.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the USB drive and plug it into the docking station", "B.put the object on the table", "C.unfold a piece of paper that has been folded once and has a weight pressing down on one end", "D.open the book on the table" ] }, { "task_id": "0003068", "task": "TrajChoice", "id": "RH20T_cfg4_task_0116_user_0014_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the rubber duck in the pot, B.pick up the eraser and wipe the writing on the board, C.place the object on the table, D.use the correction tape on the paper], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003068.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rubber duck in the pot", "B.pick up the eraser and wipe the writing on the board", "C.place the object on the table", "D.use the correction tape on the paper" ] }, { "task_id": "0003069", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.uncover the bottle of corn and put the lid on the table, B.rotate the steering wheel clockwise, C.take the pen out of the mug and put it on the table, D.move the mug backward] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003069.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.uncover the bottle of corn and put the lid on the table", "B.rotate the steering wheel clockwise", "C.take the pen out of the mug and put it on the table", "D.move the mug backward" ] }, { "task_id": "0003070", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the bottle in the box, B.move the rope off the object and onto the table, C.fold the green towel, D.assemble: attach the bubble ring to the ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003070.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the box", "B.move the rope off the object and onto the table", "C.fold the green towel", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003071", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the elastic around the bottle on the table, B.place the block on the scale, C.slide the towel on the table, D.take out a Hanoi block and throw it aside], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003071.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the elastic around the bottle on the table", "B.place the block on the scale", "C.slide the towel on the table", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0003072", "task": "TrajChoice", "id": "RH20T_cfg4_task_0111_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the lid on the jar, B.put the bottle in the bowl, C.put the object with the corresponding shape into the corresponding hole, D.move the block on top of the block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003072.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the jar", "B.put the bottle in the bowl", "C.put the object with the corresponding shape into the corresponding hole", "D.move the block on top of the block" ] }, { "task_id": "0003073", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the piece of paper in the glass bowl, B.put the pen on the desk, C.turn on the switch in the middle, D.rotate the steering wheel 90 degrees clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003073.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the piece of paper in the glass bowl", "B.put the pen on the desk", "C.turn on the switch in the middle", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0003074", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the block on the table, then put the block on the block, B.move the lid from the table to the pot, C.remove the object from the scale, D.remove the towel from the handle and put it on the table twice], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003074.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block on the table, then put the block on the block", "B.move the lid from the table to the pot", "C.remove the object from the scale", "D.remove the towel from the handle and put it on the table twice" ] }, { "task_id": "0003075", "task": "TrajChoice", "id": "RH20T_cfg5_task_0043_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.unscrew the lid from the jar, B.rotate the iron counterclockwise, C.put the black and white packet inside the sink on the left, D.pick the object and put it in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003075.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.rotate the iron counterclockwise", "C.put the black and white packet inside the sink on the left", "D.pick the object and put it in the bowl" ] }, { "task_id": "0003076", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.cover the pot with the lid, B.holding a small block with the gripper and sweeping it from left to right on the table, C.move the drying rack from the first level to the second level, D.take out a Hanoi block and throw it aside] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003076.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.holding a small block with the gripper and sweeping it from left to right on the table", "C.move the drying rack from the first level to the second level", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0003077", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the lid, B.take the pen out of the mug and put it on the chair, C.put the towel in the box, D.move the small bowl from the base to the countertop, and then place the small ball on the countertop into the small bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003077.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the lid", "B.take the pen out of the mug and put it on the chair", "C.put the towel in the box", "D.move the small bowl from the base to the countertop, and then place the small ball on the countertop into the small bowl" ] }, { "task_id": "0003078", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the fork from the plate to the table, B.close a sliding window, C.lay the two towels from the box flat on the table, D.push the faucet handle upwards], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003078.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the fork from the plate to the table", "B.close a sliding window", "C.lay the two towels from the box flat on the table", "D.push the faucet handle upwards" ] }, { "task_id": "0003079", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn on the desk lamp by pressing the button, B.put the block on the block, C.put the marker in the cup, D.pick up the eggplant from the bowl and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003079.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.put the block on the block", "C.put the marker in the cup", "D.pick up the eggplant from the bowl and put it on the table" ] }, { "task_id": "0003080", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.remove the pen from the cup and put it on the counter, C.put the white item in the cup, D.remove the lid from the jar and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003080.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.remove the pen from the cup and put it on the counter", "C.put the white item in the cup", "D.remove the lid from the jar and place it on the table" ] }, { "task_id": "0003081", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the lid on the pot, B.close the bottom drawer, C.the building blocks, D.assemble: attach the bubble ring to the ball], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003081.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the pot", "B.close the bottom drawer", "C.the building blocks", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003082", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green ball on the plate, B.open the bin, C.drop coins into a piggy bank, D.turn on the toaster] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003082.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green ball on the plate", "B.open the bin", "C.drop coins into a piggy bank", "D.turn on the toaster" ] }, { "task_id": "0003083", "task": "TrajChoice", "id": "RH20T_cfg7_task_0002_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull out a napkin, B.push the trash can lid to close, C.wipe the sink counter with a cloth, D.move the white mug forwards], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003083.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.push the trash can lid to close", "C.wipe the sink counter with a cloth", "D.move the white mug forwards" ] }, { "task_id": "0003084", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pressing an object on the table, B.pick up the cup from the table and pour some of its contents into the orange bowl, C.move the pineapple toy from the blue pot to the basket, D.adjust the volume of the speaker by rotating the knob], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003084.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing an object on the table", "B.pick up the cup from the table and pour some of its contents into the orange bowl", "C.move the pineapple toy from the blue pot to the basket", "D.adjust the volume of the speaker by rotating the knob" ] }, { "task_id": "0003085", "task": "TrajChoice", "id": "RH20T_cfg4_task_0060_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the watering can and water the plant, B.rotate the knob on the speaker clockwise, C.pick up the pen and put it in the bowl, D.place the cube on the scale] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003085.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the watering can and water the plant", "B.rotate the knob on the speaker clockwise", "C.pick up the pen and put it in the bowl", "D.place the cube on the scale" ] }, { "task_id": "0003086", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the lid off the black pot to the upper right of the stove and put it in the center of the stove, B.turn on the desk lamp by pressing the button, C.put the fork in the utensil bucket, D.place the handset of the telephone on the corresponding phone cradle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003086.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off the black pot to the upper right of the stove and put it in the center of the stove", "B.turn on the desk lamp by pressing the button", "C.put the fork in the utensil bucket", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0003087", "task": "TrajChoice", "id": "RH20T_cfg4_task_0082_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.scooping with a large spoon from the red bowl to the white bowl, B.sliding towel, C.put the clothes rack of the middle shelf on the upper shelf, D.move the cup from the left side to the right side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003087.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scooping with a large spoon from the red bowl to the white bowl", "B.sliding towel", "C.put the clothes rack of the middle shelf on the upper shelf", "D.move the cup from the left side to the right side" ] }, { "task_id": "0003088", "task": "TrajChoice", "id": "RH20T_cfg3_task_0091_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the cloth into the box, B.move an object from one box to another, C.chop the potatoes, D.push the object to the left side of the table with a towel] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003088.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cloth into the box", "B.move an object from one box to another", "C.chop the potatoes", "D.push the object to the left side of the table with a towel" ] }, { "task_id": "0003089", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the block on the block, B.use a towel to wipe the desk, C.transfer a large pipette tip from the table to the holder for large pipette tips, D.put the glass cup onto the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003089.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the block", "B.use a towel to wipe the desk", "C.transfer a large pipette tip from the table to the holder for large pipette tips", "D.put the glass cup onto the shelf" ] }, { "task_id": "0003090", "task": "TrajChoice", "id": "RH20T_cfg3_task_0052_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.grab a basketball, and move, B.put the purple object in the basket, then close the drawer, C.put the green block in the black bowl, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003090.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, and move", "B.put the purple object in the basket, then close the drawer", "C.put the green block in the black bowl", "D.play the drum" ] }, { "task_id": "0003091", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0001_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the roll of paper on the shelf, B.close the top drawer of the kitchen unit, C.move the object on the table slightly to the left, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003091.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the roll of paper on the shelf", "B.close the top drawer of the kitchen unit", "C.move the object on the table slightly to the left", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003092", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn off the light, B.place the handset of the telephone on the phone cradle, C.put the black beanie into the red bag, D.pour the contents in the orange cup into the black bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003092.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light", "B.place the handset of the telephone on the phone cradle", "C.put the black beanie into the red bag", "D.pour the contents in the orange cup into the black bowl" ] }, { "task_id": "0003093", "task": "TrajChoice", "id": "RH20T_cfg1_task_0120_user_0010_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the rubber band on the bottle, B.remove the green can from the sink, C.move the bottle on the right side of the counter to the left side of the counter and press the nozzle above the bottle, D.install the light bulb by rotating it], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003093.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rubber band on the bottle", "B.remove the green can from the sink", "C.move the bottle on the right side of the counter to the left side of the counter and press the nozzle above the bottle", "D.install the light bulb by rotating it" ] }, { "task_id": "0003094", "task": "TrajChoice", "id": "RH20T_cfg5_task_0019_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the plum plush toy and place it in the white bowl, B.turn off the air fryer, C.play the first move as black on the 3-4 point in the upper right corner of the Go board, D.move the brown object to the left then use the towel to wipe the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003094.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the plum plush toy and place it in the white bowl", "B.turn off the air fryer", "C.play the first move as black on the 3-4 point in the upper right corner of the Go board", "D.move the brown object to the left then use the towel to wipe the table" ] }, { "task_id": "0003095", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0004_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.use the gripper to push and close the drawer, B.pick up the bottle and put it in the basket, C.place the white cup on the edge of the table, D.pick up the blue sachet and place it on top of the red sachet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003095.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.pick up the bottle and put it in the basket", "C.place the white cup on the edge of the table", "D.pick up the blue sachet and place it on top of the red sachet" ] }, { "task_id": "0003096", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0014_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the soccer ball into the goal, B.clean the table with a cloth, C.transfer the lid from the pot to the table, D.close the third drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003096.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.clean the table with a cloth", "C.transfer the lid from the pot to the table", "D.close the third drawer" ] }, { "task_id": "0003097", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the bottle to the right, B.put the lid on the pot, C.move the can from the left side to the right side, D.plug in the bulb holder to the socket], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003097.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle to the right", "B.put the lid on the pot", "C.move the can from the left side to the right side", "D.plug in the bulb holder to the socket" ] }, { "task_id": "0003098", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.insert the tip of a large pipette into the holder for large pipette tips, B.open the bottom drawer of the cabinet to the right, C.take the marker from the yellow cup and place it on the table, D.wiping the table with a tissue], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003098.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a large pipette into the holder for large pipette tips", "B.open the bottom drawer of the cabinet to the right", "C.take the marker from the yellow cup and place it on the table", "D.wiping the table with a tissue" ] }, { "task_id": "0003099", "task": "TrajChoice", "id": "RH20T_cfg3_task_0049_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.set the tilted cushion on the sofa straight, B.rotate the steering wheel 90 degrees counterclockwise, C.move the object from the tabletop to the shelf, D.put the candy on the table in the bin] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003099.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.set the tilted cushion on the sofa straight", "B.rotate the steering wheel 90 degrees counterclockwise", "C.move the object from the tabletop to the shelf", "D.put the candy on the table in the bin" ] }, { "task_id": "0003100", "task": "TrajChoice", "id": "RH20T_cfg6_task_0047_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the seal tape and the other two objects and place them on top of the box over the counter, B.pour the contents of the orange cup into the transparent one, C.turn off the light, D.take the cup off the cup rack and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003100.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the seal tape and the other two objects and place them on top of the box over the counter", "B.pour the contents of the orange cup into the transparent one", "C.turn off the light", "D.take the cup off the cup rack and place it on the table" ] }, { "task_id": "0003101", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the can on the metal item, B.press a button on the stove, C.pull up the lever, D.push the lid of the notebook to open the notebook] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003101.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the can on the metal item", "B.press a button on the stove", "C.pull up the lever", "D.push the lid of the notebook to open the notebook" ] }, { "task_id": "0003102", "task": "TrajChoice", "id": "RH20T_cfg4_task_0079_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the white bottle to the right, B.close the microwave door, C.lift up the right switch on the wall, D.put the pen into the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003102.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white bottle to the right", "B.close the microwave door", "C.lift up the right switch on the wall", "D.put the pen into the mug" ] }, { "task_id": "0003103", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0010_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.moving the two pieces of fabric sequentially from the basket to the bag, B.grab a basketball, release it and shoot it into the basket, C.put the object into the left box, D.move the mug to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003103.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the two pieces of fabric sequentially from the basket to the bag", "B.grab a basketball, release it and shoot it into the basket", "C.put the object into the left box", "D.move the mug to the right" ] }, { "task_id": "0003104", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.unfold the cloth on the table, B.assemble one piece of a puzzle, C.push the book on the table to the left, D.put the orange ring on the wooden platform] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003104.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the cloth on the table", "B.assemble one piece of a puzzle", "C.push the book on the table to the left", "D.put the orange ring on the wooden platform" ] }, { "task_id": "0003105", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker on the desk, B.wipe the table with a towel, C.put the garbage in the trash can, D.put the yellow pen inside the green bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003105.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the desk", "B.wipe the table with a towel", "C.put the garbage in the trash can", "D.put the yellow pen inside the green bowl" ] }, { "task_id": "0003106", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.fold the towel, B.place the block in the bowl, C.put one of the small blue blocks upright, D.clean the tabletop with a sponge], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003106.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the towel", "B.place the block in the bowl", "C.put one of the small blue blocks upright", "D.clean the tabletop with a sponge" ] }, { "task_id": "0003107", "task": "TrajChoice", "id": "RH20T_cfg6_task_0096_user_0020_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close a sliding window, B.take out the drawer, C.stack the three cups together, D.turn on the desk lamp by pressing the button on the desk lamp] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003107.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close a sliding window", "B.take out the drawer", "C.stack the three cups together", "D.turn on the desk lamp by pressing the button on the desk lamp" ] }, { "task_id": "0003108", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the beverage into the sink, B.stacking the blocks, C.move an object from one box to another, D.pick up the cup on the left from the desktop, and then pour the contents of the cup onto the desktop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003108.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the beverage into the sink", "B.stacking the blocks", "C.move an object from one box to another", "D.pick up the cup on the left from the desktop, and then pour the contents of the cup onto the desktop" ] }, { "task_id": "0003109", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the block on the scale, B.chop the orange, C.put the blue bowl in the storage bin, D.put the black clothes on the back of the chair], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003109.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.chop the orange", "C.put the blue bowl in the storage bin", "D.put the black clothes on the back of the chair" ] }, { "task_id": "0003110", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the faucet to the left, B.turn off the desk lamp by pressing the button, C.put the blue soda can on the open shelf, D.put the kettle next to the microwave] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003110.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet to the left", "B.turn off the desk lamp by pressing the button", "C.put the blue soda can on the open shelf", "D.put the kettle next to the microwave" ] }, { "task_id": "0003111", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.overlap the bowls on the table, B.take everything out of the gift box, C.unfold the towel, D.open the drawer, place the jar from the table into the drawer and close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003111.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.overlap the bowls on the table", "B.take everything out of the gift box", "C.unfold the towel", "D.open the drawer, place the jar from the table into the drawer and close the drawer" ] }, { "task_id": "0003112", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#177", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the silver lid on the kettle, B.pick up and put down the roll of paper, C.push the soccer ball into the goal, D.take everything out of the gift box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003112.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver lid on the kettle", "B.pick up and put down the roll of paper", "C.push the soccer ball into the goal", "D.take everything out of the gift box" ] }, { "task_id": "0003113", "task": "TrajChoice", "id": "RH20T_cfg4_task_0061_user_0016_scene_0009_cfg_0004_104122062823#337", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take everything out of the gift box, B.put the ball in front of the right side of the green bowl, C.transfer the tissue box on the table to the shelf, D.move the white toy backwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003113.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.put the ball in front of the right side of the green bowl", "C.transfer the tissue box on the table to the shelf", "D.move the white toy backwards" ] }, { "task_id": "0003114", "task": "TrajChoice", "id": "RH20T_cfg3_task_0054_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.grab the block and place it at the designated location, B.move the right and left white shoes to the first shelf respectively, C.grasp the moving object, D.close the coffeemaker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003114.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.move the right and left white shoes to the first shelf respectively", "C.grasp the moving object", "D.close the coffeemaker" ] }, { "task_id": "0003115", "task": "TrajChoice", "id": "RH20T_cfg5_task_0028_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the brown paper box into the left plastic box, B.close the drawer, C.put the blue legos on the right onto the yellow legos that are farthest from you, D.unfold the cloth, slide the cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003115.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the brown paper box into the left plastic box", "B.close the drawer", "C.put the blue legos on the right onto the yellow legos that are farthest from you", "D.unfold the cloth, slide the cloth" ] }, { "task_id": "0003117", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn the faucet to the right, B.remove one object from the upper part of the tray and place it on the table, C.grab the block and place it at the designated location, D.remove the lid from the pot and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003117.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the faucet to the right", "B.remove one object from the upper part of the tray and place it on the table", "C.grab the block and place it at the designated location", "D.remove the lid from the pot and put it on the table" ] }, { "task_id": "0003118", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up a bag of things, B.remove the can from the sink, C.remove a glass jar from the second shelf and put it on the stovetop, D.open the curtain], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003118.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.remove the can from the sink", "C.remove a glass jar from the second shelf and put it on the stovetop", "D.open the curtain" ] }, { "task_id": "0003119", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0010_scene_0009_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.taking out the light bulb by rotating it, B.open the right door of the cabinet, C.place the lid on the container, D.pulling the trash bin backwards on the desk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003119.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.taking out the light bulb by rotating it", "B.open the right door of the cabinet", "C.place the lid on the container", "D.pulling the trash bin backwards on the desk" ] }, { "task_id": "0003120", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the hoodie from the box and put it on the couch, B.close the drawer, C.put the orange tool into the cup, D.push the block on the desk to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003120.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the hoodie from the box and put it on the couch", "B.close the drawer", "C.put the orange tool into the cup", "D.push the block on the desk to the left" ] }, { "task_id": "0003121", "task": "TrajChoice", "id": "RH20T_cfg7_task_0047_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the packaging bag to the cloth, B.press the switch of the room light, C.put the stick into the transparent container, D.take the cup off the cup rack and put it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003121.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the packaging bag to the cloth", "B.press the switch of the room light", "C.put the stick into the transparent container", "D.take the cup off the cup rack and put it on the table" ] }, { "task_id": "0003123", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0003_scene_0001_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.folding a shirt on the bed, B.open the cabinet door, C.use the gripper to push the small block from left to right, D.put the white cup on top of another white cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003123.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a shirt on the bed", "B.open the cabinet door", "C.use the gripper to push the small block from left to right", "D.put the white cup on top of another white cup" ] }, { "task_id": "0003124", "task": "TrajChoice", "id": "RH20T_cfg3_task_0014_user_0011_scene_0004_cfg_0003_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the fluffy ball on the plate, B.take the stick of glue out of the mug, C.put the plush toy inside the open drawer, D.remove the object from the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003124.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fluffy ball on the plate", "B.take the stick of glue out of the mug", "C.put the plush toy inside the open drawer", "D.remove the object from the scale" ] }, { "task_id": "0003125", "task": "TrajChoice", "id": "RH20T_cfg6_task_0048_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.rotate the steering wheel clockwise, B.use the gripper to push the small block from down to up, C.place a sachet from the counter in the wooden box, D.hang up the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003125.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel clockwise", "B.use the gripper to push the small block from down to up", "C.place a sachet from the counter in the wooden box", "D.hang up the towel" ] }, { "task_id": "0003126", "task": "TrajChoice", "id": "RH20T_cfg2_task_0091_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.unscrew the lid from the jar, B.pick up the white dish from the stove, pour some of its contents into the bowl, and put it back on the stove, C.move an object from one box to another, D.press the button on the microwave to open the microwave], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003126.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.pick up the white dish from the stove, pour some of its contents into the bowl, and put it back on the stove", "C.move an object from one box to another", "D.press the button on the microwave to open the microwave" ] }, { "task_id": "0003127", "task": "TrajChoice", "id": "RH20T_cfg3_task_0018_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.play jenga, B.take the marker out of the cup and put it on the table, C.press the button on the kettle, D.put the block upright on top of the block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003127.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.take the marker out of the cup and put it on the table", "C.press the button on the kettle", "D.put the block upright on top of the block" ] }, { "task_id": "0003128", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0006_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the small cube behind the box, B.put the mug slightly to the left, C.remove the object from the scale, D.press a button on the alarm clock], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003128.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the small cube behind the box", "B.put the mug slightly to the left", "C.remove the object from the scale", "D.press a button on the alarm clock" ] }, { "task_id": "0003129", "task": "TrajChoice", "id": "RH20T_cfg5_task_0092_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the plush toy on the black tray, B.turn the hands of a clock, C.put the snack packet into the sink, D.put the apple on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003129.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the plush toy on the black tray", "B.turn the hands of a clock", "C.put the snack packet into the sink", "D.put the apple on the table" ] }, { "task_id": "0003130", "task": "TrajChoice", "id": "RH20T_cfg7_task_0063_user_0014_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the mat on the shelf, B.put the ring on the tray, C.remove the red sauce bottle from the silver pan, D.use a shovel to scoop up an object] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003130.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the mat on the shelf", "B.put the ring on the tray", "C.remove the red sauce bottle from the silver pan", "D.use a shovel to scoop up an object" ] }, { "task_id": "0003131", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen in the cup, B.put the jean jacket on the seat of the chair, C.put the black marker into the silver basin, D.push the soccer ball into the goal], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003131.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the cup", "B.put the jean jacket on the seat of the chair", "C.put the black marker into the silver basin", "D.push the soccer ball into the goal" ] }, { "task_id": "0003132", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.play the first move as black on the 3-4 point in the upper right corner of the Go board, B.put the objects in the basket onto the table, C.put the bag on the left side of the table, D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003132.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play the first move as black on the 3-4 point in the upper right corner of the Go board", "B.put the objects in the basket onto the table", "C.put the bag on the left side of the table", "D.put the toilet paper on its holder" ] }, { "task_id": "0003133", "task": "TrajChoice", "id": "RH20T_cfg1_task_0039_user_0016_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the water from one cup into another empty cup, B.turn the knob on the microwave clockwise, C.pull the cup to the middle of the table, D.take an object from the desktop and move it to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003133.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.turn the knob on the microwave clockwise", "C.pull the cup to the middle of the table", "D.take an object from the desktop and move it to the left" ] }, { "task_id": "0003134", "task": "TrajChoice", "id": "RH20T_cfg2_task_0205_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.chop the scallions, B.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb, C.pour the beans from the cup into the bowl, D.turn on the toaster] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003134.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the scallions", "B.plug in the bulb holder to the socket, install the bulb, turn on the socket to light up the bulb", "C.pour the beans from the cup into the bowl", "D.turn on the toaster" ] }, { "task_id": "0003135", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the object on the table forward, B.place the object on the plane, C.pick the marker and put it in the cup, D.put the knife on the cutting board], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003135.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the object on the table forward", "B.place the object on the plane", "C.pick the marker and put it in the cup", "D.put the knife on the cutting board" ] }, { "task_id": "0003136", "task": "TrajChoice", "id": "RH20T_cfg2_task_0006_user_0013_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button, B.use the gripper to push the small block from back to front, C.place the handset of the telephone on the corresponding phone cradle, D.move the sneaker on the right to the far right of the rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003136.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button", "B.use the gripper to push the small block from back to front", "C.place the handset of the telephone on the corresponding phone cradle", "D.move the sneaker on the right to the far right of the rack" ] }, { "task_id": "0003137", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.clean the tabletop with a sponge, B.put the pink bowl on the stove rack, C.move the faucet handle upwards, D.use a cloth to wipe the plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003137.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.put the pink bowl on the stove rack", "C.move the faucet handle upwards", "D.use a cloth to wipe the plate" ] }, { "task_id": "0003138", "task": "TrajChoice", "id": "RH20T_cfg5_task_0009_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the cup upright on the table, B.unscrewing the lid from the jar, C.use the potholder to pick up the bottle at the top and put it in the rack on the washing machine, D.take out a Hanoi block and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003138.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup upright on the table", "B.unscrewing the lid from the jar", "C.use the potholder to pick up the bottle at the top and put it in the rack on the washing machine", "D.take out a Hanoi block and place it on the table" ] }, { "task_id": "0003139", "task": "TrajChoice", "id": "RH20T_cfg6_task_0225_user_0014_scene_0004_cfg_0006_104122064161#352", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the cup out of the microwave, B.put the red object inside the empty blue bowl, C.move the brown paper weight forward, D.take the orange toy from beside the sink and place it inside the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003139.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup out of the microwave", "B.put the red object inside the empty blue bowl", "C.move the brown paper weight forward", "D.take the orange toy from beside the sink and place it inside the sink" ] }, { "task_id": "0003140", "task": "TrajChoice", "id": "RH20T_cfg6_task_0028_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.close the drawer, B.pick up the orange object and put it in a black bowl, C.place the spoon on the right side of the table, D.move the box to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003140.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.pick up the orange object and put it in a black bowl", "C.place the spoon on the right side of the table", "D.move the box to the right" ] }, { "task_id": "0003141", "task": "TrajChoice", "id": "RH20T_cfg5_task_0070_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the lid on the table, B.put the masking tape on the plate, C.open a sliding window, D.pick up the sponge from the countertop and move it to the inner side], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003141.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the table", "B.put the masking tape on the plate", "C.open a sliding window", "D.pick up the sponge from the countertop and move it to the inner side" ] }, { "task_id": "0003142", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the bowl from the table to the sink, B.take the roll of paper down from the shelf, C.move the block forward, D.move the cup to the left] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003142.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl from the table to the sink", "B.take the roll of paper down from the shelf", "C.move the block forward", "D.move the cup to the left" ] }, { "task_id": "0003143", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button horizontally, B.move the cube to a specified position, C.turn on the light, D.put the glass lid on the black pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003143.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.move the cube to a specified position", "C.turn on the light", "D.put the glass lid on the black pot" ] }, { "task_id": "0003144", "task": "TrajChoice", "id": "RH20T_cfg5_task_0025_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stack the transparent boxes, B.remove the object from the white bowl and put it on the table, C.take the green block out of the box and put it on the table, D.unfold a piece of paper], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003144.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the transparent boxes", "B.remove the object from the white bowl and put it on the table", "C.take the green block out of the box and put it on the table", "D.unfold a piece of paper" ] }, { "task_id": "0003145", "task": "TrajChoice", "id": "RH20T_cfg2_task_0080_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the paper with the back side facing up on the table, B.pick up the cup and place it inside the other cups, C.put the marker in the mug, D.press the switch at the first row from the bottom], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003145.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the paper with the back side facing up on the table", "B.pick up the cup and place it inside the other cups", "C.put the marker in the mug", "D.press the switch at the first row from the bottom" ] }, { "task_id": "0003146", "task": "TrajChoice", "id": "RH20T_cfg4_task_0029_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the marker out of the mug and put it on the table, B.remove the bubble ring from the assembled bubble ring and ball, C.open the door of the cabinet on the top of the sink, D.grasp the handle and open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003146.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the mug and put it on the table", "B.remove the bubble ring from the assembled bubble ring and ball", "C.open the door of the cabinet on the top of the sink", "D.grasp the handle and open the drawer" ] }, { "task_id": "0003147", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.insert the tip of a medium pipette into the holder for medium pipette tips, B.move the green block to the right, C.put the cup on the box, D.take the snack bar out of the sink and place it on the countertop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003147.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the tip of a medium pipette into the holder for medium pipette tips", "B.move the green block to the right", "C.put the cup on the box", "D.take the snack bar out of the sink and place it on the countertop" ] }, { "task_id": "0003149", "task": "TrajChoice", "id": "RH20T_cfg3_task_0086_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grab the block and place it at the designated location, B.dial a number on an old rotary phone, C.drag the plate back after holding it down, D.push the button to open the microwave door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003149.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the designated location", "B.dial a number on an old rotary phone", "C.drag the plate back after holding it down", "D.push the button to open the microwave door" ] }, { "task_id": "0003150", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the cup on the left side, B.push the block to the right side of the table, C.empty the cup into the bowl, D.put the bottle into the bag] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003150.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup on the left side", "B.push the block to the right side of the table", "C.empty the cup into the bowl", "D.put the bottle into the bag" ] }, { "task_id": "0003151", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the left sliding door from left to right, B.open the cupboard, C.remove the bubble ring from the assembled bubble ring and ball, D.turn the handle of the faucet to close the faucet] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003151.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the left sliding door from left to right", "B.open the cupboard", "C.remove the bubble ring from the assembled bubble ring and ball", "D.turn the handle of the faucet to close the faucet" ] }, { "task_id": "0003152", "task": "TrajChoice", "id": "RH20T_cfg2_task_0083_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.swat with a flyswatter, B.take the spoon from the cabinet and put it in the box, C.push back the extendable spout, D.put the marker in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003152.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.take the spoon from the cabinet and put it in the box", "C.push back the extendable spout", "D.put the marker in the mug" ] }, { "task_id": "0003153", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stack the cups together, transfer the spoon from the cup to the table, B.turn off the light, C.hit the pool ball, D.take the marker from the green cup and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003153.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the cups together, transfer the spoon from the cup to the table", "B.turn off the light", "C.hit the pool ball", "D.take the marker from the green cup and put it on the table" ] }, { "task_id": "0003154", "task": "TrajChoice", "id": "RH20T_cfg6_task_0009_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow pepper in the orange bowl, B.push the faucet to the right, C.take out a purple Hanoi block and place it on the table, D.hang the white cloth on the black stand] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003154.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow pepper in the orange bowl", "B.push the faucet to the right", "C.take out a purple Hanoi block and place it on the table", "D.hang the white cloth on the black stand" ] }, { "task_id": "0003155", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.unfold the leg of the glasses (with one hand), B.put the toy into the green bowl, C.slide the plate above the table, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003155.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the leg of the glasses (with one hand)", "B.put the toy into the green bowl", "C.slide the plate above the table", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0003156", "task": "TrajChoice", "id": "RH20T_cfg2_task_0010_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the bottom right cupboard door, B.press the coffee machine button, C.close the drawer, D.place the handset of the telephone on the phone cradle], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003156.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom right cupboard door", "B.press the coffee machine button", "C.close the drawer", "D.place the handset of the telephone on the phone cradle" ] }, { "task_id": "0003157", "task": "TrajChoice", "id": "RH20T_cfg3_task_0077_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the pen from the cup and put it on the table, B.press the button on top of the water dispenser, C.place the green Lego on top of the purple Lego, D.put the marker on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003157.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the pen from the cup and put it on the table", "B.press the button on top of the water dispenser", "C.place the green Lego on top of the purple Lego", "D.put the marker on the table" ] }, { "task_id": "0003158", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the cloth and put it in the box, B.pull up the lever, C.insert the pencil into the pencil sharpener, D.put the clothes and the towel on the backrest of the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003158.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cloth and put it in the box", "B.pull up the lever", "C.insert the pencil into the pencil sharpener", "D.put the clothes and the towel on the backrest of the chair" ] }, { "task_id": "0003159", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the glass cup onto the shelf, B.put the black bucket on the table, C.put the aluminum can on the countertop, D.move the brush inside the silver flask up and down] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003159.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass cup onto the shelf", "B.put the black bucket on the table", "C.put the aluminum can on the countertop", "D.move the brush inside the silver flask up and down" ] }, { "task_id": "0003160", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pour the contents in the green bowl into the white pot, B.plug in the power cord to the socket, C.put the clothes on the table, then put the clothes in the box, D.pour the contents of the cup onto the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003160.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the green bowl into the white pot", "B.plug in the power cord to the socket", "C.put the clothes on the table, then put the clothes in the box", "D.pour the contents of the cup onto the plate" ] }, { "task_id": "0003161", "task": "TrajChoice", "id": "RH20T_cfg7_task_0002_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the storage rack to the right side of the table, B.turn off the third switch from the right of the adapter, C.place the black object into the plate, D.pull out a napkin and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003161.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the storage rack to the right side of the table", "B.turn off the third switch from the right of the adapter", "C.place the black object into the plate", "D.pull out a napkin and place it on the table" ] }, { "task_id": "0003162", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wipe the white plate with the blue towel, B.pick the glue stick from the cup and put it on the counter, C.play the drum, D.press the toaster switch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003162.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the white plate with the blue towel", "B.pick the glue stick from the cup and put it on the counter", "C.play the drum", "D.press the toaster switch" ] }, { "task_id": "0003163", "task": "TrajChoice", "id": "RH20T_cfg4_task_0053_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the charger head in the slot of the extension cord, B.put the plastic cutlery on the cup, C.use a clamp, D.put the blue marker inside the grey bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003163.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the charger head in the slot of the extension cord", "B.put the plastic cutlery on the cup", "C.use a clamp", "D.put the blue marker inside the grey bowl" ] }, { "task_id": "0003164", "task": "TrajChoice", "id": "RH20T_cfg1_task_0015_user_0001_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the cup off the cup rack, B.press a button from top to bottom with obstacles, C.press the harmonica keys, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003164.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.press a button from top to bottom with obstacles", "C.press the harmonica keys", "D.play the drum" ] }, { "task_id": "0003165", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the red object in the bowl, B.put the white cup in the microwave and close the microwave, C.turn off the desk lamp by pressing the button, D.put the green block in the black bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003165.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red object in the bowl", "B.put the white cup in the microwave and close the microwave", "C.turn off the desk lamp by pressing the button", "D.put the green block in the black bowl" ] }, { "task_id": "0003166", "task": "TrajChoice", "id": "RH20T_cfg6_task_0019_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the object on the right side of the mobile shelf and place the object on top of the object, B.put the marker inside the bowl, C.screw the lid onto the jar (needs to be twisted), D.make the first move as black on the 3-4 point in the upper right corner of the Go board] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003166.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object on the right side of the mobile shelf and place the object on top of the object", "B.put the marker inside the bowl", "C.screw the lid onto the jar (needs to be twisted)", "D.make the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0003167", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the lid on the cup, B.push the square block on the table upward, C.put the green ring from the wooden object onto the table, D.uncover the black pot and put the lid on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003167.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the cup", "B.push the square block on the table upward", "C.put the green ring from the wooden object onto the table", "D.uncover the black pot and put the lid on the table" ] }, { "task_id": "0003168", "task": "TrajChoice", "id": "RH20T_cfg5_task_0039_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open the drawer, transfer the beverage from the countertop to the drawer, then close the drawer, B.take the lid off the pot and put it on the stove, C.pour the water from one cup into another empty cup, D.move the shoes from the top of the shoe rack to the bottom of the shoe rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003168.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the drawer, transfer the beverage from the countertop to the drawer, then close the drawer", "B.take the lid off the pot and put it on the stove", "C.pour the water from one cup into another empty cup", "D.move the shoes from the top of the shoe rack to the bottom of the shoe rack" ] }, { "task_id": "0003169", "task": "TrajChoice", "id": "RH20T_cfg2_task_0082_user_0014_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.scoop water with a large spoon from one bowl to another, B.take the marker out of the mug and place it to the right of the mug, C.get a bottle next to the box and put it in the lower half of the box, D.remove two tissues from the tissue box and put them on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003169.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.scoop water with a large spoon from one bowl to another", "B.take the marker out of the mug and place it to the right of the mug", "C.get a bottle next to the box and put it in the lower half of the box", "D.remove two tissues from the tissue box and put them on the table" ] }, { "task_id": "0003170", "task": "TrajChoice", "id": "RH20T_cfg6_task_0022_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the bottle into the bowl, B.move the plate to the specified location, C.turn on the light switch, D.wave the flag] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003170.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle into the bowl", "B.move the plate to the specified location", "C.turn on the light switch", "D.wave the flag" ] }, { "task_id": "0003171", "task": "TrajChoice", "id": "RH20T_cfg5_task_0051_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the dish off the dish rack, B.take the item off the shelf and place it on the table, C.move the black circle from the sofa to the left, D.pour the object from the black bag into the right transparent cup] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003171.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.take the item off the shelf and place it on the table", "C.move the black circle from the sofa to the left", "D.pour the object from the black bag into the right transparent cup" ] }, { "task_id": "0003172", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open a box, B.transfer the plush toy from the tray to the box, C.use the gripper to push the small block from left to right, D.take the small yellow building block out of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003172.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.transfer the plush toy from the tray to the box", "C.use the gripper to push the small block from left to right", "D.take the small yellow building block out of the table" ] }, { "task_id": "0003173", "task": "TrajChoice", "id": "RH20T_cfg1_task_0116_user_0015_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press on the keyboard, B.pour some liquid from the white container into the washing machine soap chamber, C.use the correction tape on paper, D.place the brush on the pen rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003173.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press on the keyboard", "B.pour some liquid from the white container into the washing machine soap chamber", "C.use the correction tape on paper", "D.place the brush on the pen rack" ] }, { "task_id": "0003174", "task": "TrajChoice", "id": "RH20T_cfg5_task_0014_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the orange disk on the wooden rack, B.place the orange cup inside the black bowl, C.pick up the bottle and put it in the basket, D.remove the object from the scale], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003174.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange disk on the wooden rack", "B.place the orange cup inside the black bowl", "C.pick up the bottle and put it in the basket", "D.remove the object from the scale" ] }, { "task_id": "0003175", "task": "TrajChoice", "id": "RH20T_cfg6_task_0127_user_0014_scene_0008_cfg_0006_104122064161#236", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the marker from the mug, B.remove the object from the scale, C.put the yellow block in the blue cup, D.pick up the plug, turn on the desk lamp], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003175.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.remove the object from the scale", "C.put the yellow block in the blue cup", "D.pick up the plug, turn on the desk lamp" ] }, { "task_id": "0003176", "task": "TrajChoice", "id": "RH20T_cfg5_task_0060_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.slide the lid of the white cup closed, B.turn the knob to decrease the volume of the speaker, C.put the marker in the mug on the table, D.put the yellow block inside the light blue cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003176.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the lid of the white cup closed", "B.turn the knob to decrease the volume of the speaker", "C.put the marker in the mug on the table", "D.put the yellow block inside the light blue cup" ] }, { "task_id": "0003177", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pour the contents from the cup onto the grey plate, B.install the light bulb by rotating it, C.put the bubble ring around the ball on the table, D.put the thermos cup lid on the thermos cup in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003177.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents from the cup onto the grey plate", "B.install the light bulb by rotating it", "C.put the bubble ring around the ball on the table", "D.put the thermos cup lid on the thermos cup in the sink" ] }, { "task_id": "0003178", "task": "TrajChoice", "id": "RH20T_cfg2_task_0056_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the bottle from the table and put it in the clear container, B.throw the cloth into the basket, C.move the green rectangular block to the right side of the table, D.receive a thing handed over by a human], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003178.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bottle from the table and put it in the clear container", "B.throw the cloth into the basket", "C.move the green rectangular block to the right side of the table", "D.receive a thing handed over by a human" ] }, { "task_id": "0003179", "task": "TrajChoice", "id": "RH20T_cfg1_task_0013_user_0001_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the fork onto the white plate, B.pick up the cube from the box on the table, move it to the center area of the table, and then put it down, C.place the block on the scale, D.put the marker on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003179.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork onto the white plate", "B.pick up the cube from the box on the table, move it to the center area of the table, and then put it down", "C.place the block on the scale", "D.put the marker on the table" ] }, { "task_id": "0003180", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0009_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.swat with a flyswatter, B.press a button horizontally with obstacles, C.take the photo frame down from the bracket and put it on the table, D.move the bowl to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003180.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.press a button horizontally with obstacles", "C.take the photo frame down from the bracket and put it on the table", "D.move the bowl to the left" ] }, { "task_id": "0003181", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0012_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the object from the top shelf to the next layer, B.push the faucet down, C.turn on the desk lamp by pressing the button, D.place the ring on the pillar], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003181.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object from the top shelf to the next layer", "B.push the faucet down", "C.turn on the desk lamp by pressing the button", "D.place the ring on the pillar" ] }, { "task_id": "0003182", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the white box from the clear container to the left, B.put the green block in the bowl, C.take the book out of the box and put it on the table, D.close a sliding window], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003182.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white box from the clear container to the left", "B.put the green block in the bowl", "C.take the book out of the box and put it on the table", "D.close a sliding window" ] }, { "task_id": "0003183", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the object from the desk and put it in the drawer, B.pick up a bag of things, C.twist the knob on the back of the lamp, D.pick up the marker and put it in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003183.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object from the desk and put it in the drawer", "B.pick up a bag of things", "C.twist the knob on the back of the lamp", "D.pick up the marker and put it in the bowl" ] }, { "task_id": "0003184", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0003_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the banana plush toy and put it on top of the toaster, B.close the lid of the kettle, C.play jenga, D.put a snack bar on the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003184.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the banana plush toy and put it on top of the toaster", "B.close the lid of the kettle", "C.play jenga", "D.put a snack bar on the shelf" ] }, { "task_id": "0003185", "task": "TrajChoice", "id": "RH20T_cfg2_task_0029_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the item on the table, B.dial a number on an old rotary phone, C.put the pen in the cup, D.grasp the handle and open the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003185.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the item on the table", "B.dial a number on an old rotary phone", "C.put the pen in the cup", "D.grasp the handle and open the drawer" ] }, { "task_id": "0003186", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the marker from the cup and put it on the stove, B.close the open washing machine door, C.put the rubber band around the jar, D.holding a small block with the gripper and sweeping it from left to right on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003186.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the cup and put it on the stove", "B.close the open washing machine door", "C.put the rubber band around the jar", "D.holding a small block with the gripper and sweeping it from left to right on the table" ] }, { "task_id": "0003187", "task": "TrajChoice", "id": "RH20T_cfg2_task_0216_user_0007_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the round object to the left side of the table and use a towel to wipe the table, B.pour the contents in the orange cup into the clear bowl, C.chop the cucumber into shreds, D.unhang the cloth from the stand], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003187.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the round object to the left side of the table and use a towel to wipe the table", "B.pour the contents in the orange cup into the clear bowl", "C.chop the cucumber into shreds", "D.unhang the cloth from the stand" ] }, { "task_id": "0003188", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the red button on the white base, B.put the book into the round barrel, C.close the flask, D.put the pens from the cabinet into the container], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003188.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the red button on the white base", "B.put the book into the round barrel", "C.close the flask", "D.put the pens from the cabinet into the container" ] }, { "task_id": "0003189", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the white object, B.wipe an object with a tissue, C.remove the soy sauce bottle from the cabinet and put it on the counter, D.take out a Hanoi block and throw it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003189.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the white object", "B.wipe an object with a tissue", "C.remove the soy sauce bottle from the cabinet and put it on the counter", "D.take out a Hanoi block and throw it on the table" ] }, { "task_id": "0003190", "task": "TrajChoice", "id": "RH20T_cfg7_task_0038_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the towel to wipe the green object, B.put the blue lid on the bottle, C.pick up the cup, D.place the block on the scale] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003190.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the towel to wipe the green object", "B.put the blue lid on the bottle", "C.pick up the cup", "D.place the block on the scale" ] }, { "task_id": "0003191", "task": "TrajChoice", "id": "RH20T_cfg3_task_0023_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the marker from the cup and place it on the table, B.turn on the power strip by pressing the button, C.move the yellow block to the right, D.move the blue cloth to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003191.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the cup and place it on the table", "B.turn on the power strip by pressing the button", "C.move the yellow block to the right", "D.move the blue cloth to the right" ] }, { "task_id": "0003192", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0008_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.plug in the power cord to the socket, B.place the green bottle in the sink, C.put the elastic around the bottle, D.close the top drawer of the cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003192.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.place the green bottle in the sink", "C.put the elastic around the bottle", "D.close the top drawer of the cabinet" ] }, { "task_id": "0003194", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the bottle upright, B.slide the cover of the sorting box to open the box, C.push the sliding cover on the box to close, D.put the cup on the cup rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003194.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle upright", "B.slide the cover of the sorting box to open the box", "C.push the sliding cover on the box to close", "D.put the cup on the cup rack" ] }, { "task_id": "0003195", "task": "TrajChoice", "id": "RH20T_cfg3_task_0013_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the silver flask, B.pick up the yellow object and put it on the orange plate, C.put the black t-shirt on the backrest of the grey chair, D.place a block on the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003195.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the silver flask", "B.pick up the yellow object and put it on the orange plate", "C.put the black t-shirt on the backrest of the grey chair", "D.place a block on the scale" ] }, { "task_id": "0003196", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.cover the pot with the lid, B.grab the small block and place it at the designated location, C.pick up the pink plush toy from the box and throw it on the table, D.open the cupboard door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003196.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the pot with the lid", "B.grab the small block and place it at the designated location", "C.pick up the pink plush toy from the box and throw it on the table", "D.open the cupboard door" ] }, { "task_id": "0003197", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the remote control to the table, B.get the red object from the black pot and place it on the grey plate, C.grasping the yellow toy on the green cloth, D.move the cup next to the pen] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003197.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the remote control to the table", "B.get the red object from the black pot and place it on the grey plate", "C.grasping the yellow toy on the green cloth", "D.move the cup next to the pen" ] }, { "task_id": "0003198", "task": "TrajChoice", "id": "RH20T_cfg6_task_0069_user_0020_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the object on the table, B.put the screwdriver in the drawer and close it, C.assemble one piece of a puzzle, D.put the white object in the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003198.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the table", "B.put the screwdriver in the drawer and close it", "C.assemble one piece of a puzzle", "D.put the white object in the plate" ] }, { "task_id": "0003199", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slide the towel to the right, B.take the marker out of the cup and place it on the table, C.press the button on the right side of the wall, D.push the lid onto the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003199.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the towel to the right", "B.take the marker out of the cup and place it on the table", "C.press the button on the right side of the wall", "D.push the lid onto the gift box" ] }, { "task_id": "0003200", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the cube in the drawer, B.put the container on the table, C.put the cloth into the box, D.turn on the water tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003200.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cube in the drawer", "B.put the container on the table", "C.put the cloth into the box", "D.turn on the water tap" ] }, { "task_id": "0003201", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the can from the sink and put it on the left counter, B.remove the lid from the pot and put it on the table, C.close the drawer, D.clean the table with a cloth] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003201.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the can from the sink and put it on the left counter", "B.remove the lid from the pot and put it on the table", "C.close the drawer", "D.clean the table with a cloth" ] }, { "task_id": "0003202", "task": "TrajChoice", "id": "RH20T_cfg2_task_0045_user_0007_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.place the brush on the pen rack, B.push the space key on the keyboard, C.put the orange tool into the black bowl, D.put the paper in the black bin] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003202.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.push the space key on the keyboard", "C.put the orange tool into the black bowl", "D.put the paper in the black bin" ] }, { "task_id": "0003203", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the roll of paper from the table to the holder, B.turn on the desk lamp by pressing the button, C.press the button horizontally, D.put the towel on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003203.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the roll of paper from the table to the holder", "B.turn on the desk lamp by pressing the button", "C.press the button horizontally", "D.put the towel on the table" ] }, { "task_id": "0003204", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.cover the black lid on the grey pot, B.turn on the desk lamp by pressing the button, C.move the white mug to the left, remove the black marker from the white mug, D.move the spoon to another box to hold the object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003204.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the black lid on the grey pot", "B.turn on the desk lamp by pressing the button", "C.move the white mug to the left, remove the black marker from the white mug", "D.move the spoon to another box to hold the object" ] }, { "task_id": "0003205", "task": "TrajChoice", "id": "RH20T_cfg6_task_0060_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the glue stick out of the red cup, move the cup to the right, put the glue stick into the cup, B.put the carrot plush toy on the side of the table, C.move the towel to the sofa, D.rotate the speaker knob counterclockwise] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003205.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the glue stick out of the red cup, move the cup to the right, put the glue stick into the cup", "B.put the carrot plush toy on the side of the table", "C.move the towel to the sofa", "D.rotate the speaker knob counterclockwise" ] }, { "task_id": "0003206", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the bottle into the basket, B.put the pen into the pen holder, C.turn on the third from last switch on the extension cord, D.place the object on the top of the cabinet] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003206.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bottle into the basket", "B.put the pen into the pen holder", "C.turn on the third from last switch on the extension cord", "D.place the object on the top of the cabinet" ] }, { "task_id": "0003207", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the lid from the microwave and put it on the bowl, B.transfer the block from the table to the block, C.rotate the steering wheel counterclockwise, D.place the block on the scale] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003207.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid from the microwave and put it on the bowl", "B.transfer the block from the table to the block", "C.rotate the steering wheel counterclockwise", "D.place the block on the scale" ] }, { "task_id": "0003208", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.chop the chili peppers, B.put the spoon in the cup, C.pour the water in the cup into the kettle, D.put the object on the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003208.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the chili peppers", "B.put the spoon in the cup", "C.pour the water in the cup into the kettle", "D.put the object on the shelf" ] }, { "task_id": "0003209", "task": "TrajChoice", "id": "RH20T_cfg5_task_0062_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the snack into the sink, B.press a button on the toaster to release the lever upwards, C.moving a cloth from the sofa to the bowl, D.put the toilet paper on its holder] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003209.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the snack into the sink", "B.press a button on the toaster to release the lever upwards", "C.moving a cloth from the sofa to the bowl", "D.put the toilet paper on its holder" ] }, { "task_id": "0003210", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the toy car to the microwave, B.move the yellow sponge to the right of the clear jar, C.put the ladle on the dishrack, D.put the cup on the cup rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003210.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the toy car to the microwave", "B.move the yellow sponge to the right of the clear jar", "C.put the ladle on the dishrack", "D.put the cup on the cup rack" ] }, { "task_id": "0003211", "task": "TrajChoice", "id": "RH20T_cfg3_task_0046_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the yellow pepper inside the pot, B.turn the right knob on the toaster clockwise, C.put the cup on the cup rack, D.move the bottle from the table to the plastic bag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003211.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow pepper inside the pot", "B.turn the right knob on the toaster clockwise", "C.put the cup on the cup rack", "D.move the bottle from the table to the plastic bag" ] }, { "task_id": "0003212", "task": "TrajChoice", "id": "RH20T_cfg4_task_0010_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.grab the object, C.take the cup off the cup rack, D.put the bag into the cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003212.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.grab the object", "C.take the cup off the cup rack", "D.put the bag into the cabinet" ] }, { "task_id": "0003213", "task": "TrajChoice", "id": "RH20T_cfg4_task_0033_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.grasp a large block to sweep it into the designated position, C.put the tool in the black bowl, D.place the shoe upright], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003213.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.grasp a large block to sweep it into the designated position", "C.put the tool in the black bowl", "D.place the shoe upright" ] }, { "task_id": "0003214", "task": "TrajChoice", "id": "RH20T_cfg4_task_0121_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.assemble: attach the bubble ring to the ball, B.folding the towel, C.take the pen out of the light yellow cup, D.take out the light bulb by rotating it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003214.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble: attach the bubble ring to the ball", "B.folding the towel", "C.take the pen out of the light yellow cup", "D.take out the light bulb by rotating it" ] }, { "task_id": "0003215", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the drinks on the table into the sink, B.unfold the cloth, C.swat with a flyswatter, D.the medium pipette tip is inserted into the holder for medium pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003215.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the drinks on the table into the sink", "B.unfold the cloth", "C.swat with a flyswatter", "D.the medium pipette tip is inserted into the holder for medium pipette tips" ] }, { "task_id": "0003216", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the cup from the kitchen holder and put it in the sink, B.put the black object into the box, C.use the gripper to push the small block from right to left, D.place the ring on the table onto the cylinder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003216.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup from the kitchen holder and put it in the sink", "B.put the black object into the box", "C.use the gripper to push the small block from right to left", "D.place the ring on the table onto the cylinder" ] }, { "task_id": "0003217", "task": "TrajChoice", "id": "RH20T_cfg4_task_0069_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.assemble one piece of a puzzle, B.moving the can from the transparent bowl and placing it on the countertop, C.move the black object to the rack, D.remove the bottle from the sink and put it on the base top] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003217.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.moving the can from the transparent bowl and placing it on the countertop", "C.move the black object to the rack", "D.remove the bottle from the sink and put it on the base top" ] }, { "task_id": "0003218", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.plug in the power cord to the socket, B.wiping the table with a towel, C.put the cup on the coffee machine, D.put the green marker in the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003218.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.wiping the table with a towel", "C.put the cup on the coffee machine", "D.put the green marker in the bowl" ] }, { "task_id": "0003219", "task": "TrajChoice", "id": "RH20T_cfg5_task_0026_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.sharpen the pencil with a pencil sharpener, B.use the gripper to push and close the drawer, C.put the lid on the pan, D.put the yellow bell pepper into the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003219.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sharpen the pencil with a pencil sharpener", "B.use the gripper to push and close the drawer", "C.put the lid on the pan", "D.put the yellow bell pepper into the pot" ] }, { "task_id": "0003220", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the dish on the dish rack, B.put the object on the top of the coffee machine, C.throw the flag onto the table, D.plug in the power cord to the socket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003220.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the dish on the dish rack", "B.put the object on the top of the coffee machine", "C.throw the flag onto the table", "D.plug in the power cord to the socket" ] }, { "task_id": "0003221", "task": "TrajChoice", "id": "RH20T_cfg2_task_0128_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the white jar from the transparent bowl to the countertop, B.plug the USB drive into the black object, C.remove the white bottle from the white bag and put it on the table, D.move the bowl to the windowsill, push the nightstand shelf backwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003221.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white jar from the transparent bowl to the countertop", "B.plug the USB drive into the black object", "C.remove the white bottle from the white bag and put it on the table", "D.move the bowl to the windowsill, push the nightstand shelf backwards" ] }, { "task_id": "0003222", "task": "TrajChoice", "id": "RH20T_cfg7_task_0062_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the marker to the green rack, B.use a tissue to wipe the laptop, C.put the toilet paper on its holder, D.close the tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003222.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the marker to the green rack", "B.use a tissue to wipe the laptop", "C.put the toilet paper on its holder", "D.close the tap" ] }, { "task_id": "0003223", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0007_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the black frying pan to the right, B.unscrewing the lid from the jar, C.put the red plushy in the box, D.remove the knife from the dish rack and put it in the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003223.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the black frying pan to the right", "B.unscrewing the lid from the jar", "C.put the red plushy in the box", "D.remove the knife from the dish rack and put it in the sink" ] }, { "task_id": "0003224", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the mallet from the desktop and hit the drum, then place the mallet on the drum, B.pick up the pen and put it in the white cup, C.move the board eraser forward, D.put the tape in the right compartment of the box] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003224.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the mallet from the desktop and hit the drum, then place the mallet on the drum", "B.pick up the pen and put it in the white cup", "C.move the board eraser forward", "D.put the tape in the right compartment of the box" ] }, { "task_id": "0003225", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up a bag of things, B.insert the tip of a large pipette into the holder for large pipette tips, C.move the rubber duck to the top of the shelf, D.move the coke bottle to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003225.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.insert the tip of a large pipette into the holder for large pipette tips", "C.move the rubber duck to the top of the shelf", "D.move the coke bottle to the right" ] }, { "task_id": "0003226", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.clean the tabletop with a sponge, B.pick up a bag of things, C.close the white bin, D.take the ball from the desk and put it into the green bowl, then move the green bowl to the right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003226.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.clean the tabletop with a sponge", "B.pick up a bag of things", "C.close the white bin", "D.take the ball from the desk and put it into the green bowl, then move the green bowl to the right" ] }, { "task_id": "0003227", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the ring on the table, B.remove the doll from the plate, then put the yellow block on the plate, C.slide the spout to the left, D.take out a Hanoi block and throw it aside], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003227.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the ring on the table", "B.remove the doll from the plate, then put the yellow block on the plate", "C.slide the spout to the left", "D.take out a Hanoi block and throw it aside" ] }, { "task_id": "0003228", "task": "TrajChoice", "id": "RH20T_cfg6_task_0081_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick the object and put it in the basket, B.move the green packaging bag from the counter to above the bowl, C.stand the trash can up, D.unfold the leg of the glasses (with one hand)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003228.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the object and put it in the basket", "B.move the green packaging bag from the counter to above the bowl", "C.stand the trash can up", "D.unfold the leg of the glasses (with one hand)" ] }, { "task_id": "0003229", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the rectangular block on the yellow block, B.put the carrot toy into the bowl, C.take something out of a drawer, D.put the pen into the pen holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003229.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rectangular block on the yellow block", "B.put the carrot toy into the bowl", "C.take something out of a drawer", "D.put the pen into the pen holder" ] }, { "task_id": "0003230", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the microwave door, place the bowl inside the microwave, B.water the plant, C.push down the lever, D.take the white can out of the grey bin, pour the contents in the can into the grey mug, place the can back in the bin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003230.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door, place the bowl inside the microwave", "B.water the plant", "C.push down the lever", "D.take the white can out of the grey bin, pour the contents in the can into the grey mug, place the can back in the bin" ] }, { "task_id": "0003231", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.moving a black strip object from the table and placing it into the cabinet, B.turn off the power strip by pressing the button, C.push the open drawer closed, D.put the cap on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003231.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving a black strip object from the table and placing it into the cabinet", "B.turn off the power strip by pressing the button", "C.push the open drawer closed", "D.put the cap on the table" ] }, { "task_id": "0003233", "task": "TrajChoice", "id": "RH20T_cfg5_task_0039_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.use the white towel to wipe the table, B.open the lid of the kettle, C.pour the water from a cup into another empty cup, D.press the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003233.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the white towel to wipe the table", "B.open the lid of the kettle", "C.pour the water from a cup into another empty cup", "D.press the button" ] }, { "task_id": "0003234", "task": "TrajChoice", "id": "RH20T_cfg6_task_0021_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the pen and put it in the cup, B.take out the things from the box, C.turn off the desk lamp by pressing the button, D.transfer the plate from the right side of the table to the left side] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003234.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen and put it in the cup", "B.take out the things from the box", "C.turn off the desk lamp by pressing the button", "D.transfer the plate from the right side of the table to the left side" ] }, { "task_id": "0003235", "task": "TrajChoice", "id": "RH20T_cfg5_task_0020_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.shift the cup to the right, B.unfold the towel and lay it out, C.turn on the desk lamp by pressing the button, D.push the cover of the storage box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003235.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.shift the cup to the right", "B.unfold the towel and lay it out", "C.turn on the desk lamp by pressing the button", "D.push the cover of the storage box" ] }, { "task_id": "0003236", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.assemble one piece of a puzzle, B.place the coca cola can in the center of the bottom shelf of the cabinet, C.transfer the block from the block onto the table, D.pick up the pen from the table and put it in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003236.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.place the coca cola can in the center of the bottom shelf of the cabinet", "C.transfer the block from the block onto the table", "D.pick up the pen from the table and put it in the bowl" ] }, { "task_id": "0003237", "task": "TrajChoice", "id": "RH20T_cfg1_task_0008_user_0001_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green block in the bowl, B.grab the block and place it at the designated location, C.take the marker out of the pot and put it on the desk, D.put the white towel from the cabinet on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003237.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block in the bowl", "B.grab the block and place it at the designated location", "C.take the marker out of the pot and put it on the desk", "D.put the white towel from the cabinet on the table" ] }, { "task_id": "0003238", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the objects on the table into the bowl, B.turn off the toaster, C.wiping the table, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003238.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the objects on the table into the bowl", "B.turn off the toaster", "C.wiping the table", "D.play the drum" ] }, { "task_id": "0003239", "task": "TrajChoice", "id": "RH20T_cfg3_task_0007_user_0016_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn off the fourth switch from the left, B.pull the block to the left side of the table, C.remove the green marker from the grey bowl, D.pick up the yellow plush toy from the counter and put it on the stove], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003239.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the fourth switch from the left", "B.pull the block to the left side of the table", "C.remove the green marker from the grey bowl", "D.pick up the yellow plush toy from the counter and put it on the stove" ] }, { "task_id": "0003240", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the left towel on the seat of the chair then move the towel on the backrest of the right chair to the left, B.put the plate on the cup, C.turn the faucet to the right, D.put the garbage in the trash can], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003240.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the left towel on the seat of the chair then move the towel on the backrest of the right chair to the left", "B.put the plate on the cup", "C.turn the faucet to the right", "D.put the garbage in the trash can" ] }, { "task_id": "0003241", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0007_scene_0013_cfg_0004_104122062823#257", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the whiteboard duster from the left side to the back end of the table, B.move the bottle from the lid to the bottom compartment of the box, C.fold the towel in half from left to right, D.put the garbage in the trash can], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003241.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the whiteboard duster from the left side to the back end of the table", "B.move the bottle from the lid to the bottom compartment of the box", "C.fold the towel in half from left to right", "D.put the garbage in the trash can" ] }, { "task_id": "0003242", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the marker from the cup and put it on the table, B.unfold the tablecloth, C.press the button from top to bottom, D.put the pen in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003242.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the cup and put it on the table", "B.unfold the tablecloth", "C.press the button from top to bottom", "D.put the pen in the cup" ] }, { "task_id": "0003243", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen into the pen holder, B.open the top part of the coffee maker, C.put the small bottle into the microwave, D.put the brush in the flask, move the brush up and down four times, remove the brush and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003243.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.open the top part of the coffee maker", "C.put the small bottle into the microwave", "D.put the brush in the flask, move the brush up and down four times, remove the brush and put it on the table" ] }, { "task_id": "0003244", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use the whiteboard eraser to erase the scribble on the whiteboard, B.pick up a small block, C.take everything out of the gift box, D.pick up the can from the sink and put it on the counter] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003244.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the whiteboard eraser to erase the scribble on the whiteboard", "B.pick up a small block", "C.take everything out of the gift box", "D.pick up the can from the sink and put it on the counter" ] }, { "task_id": "0003245", "task": "TrajChoice", "id": "RH20T_cfg6_task_0092_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put a capsule inside the coffee maker, B.put the hanger on the shelf, C.push the cup to the left, D.turn the hands of a clock] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003245.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a capsule inside the coffee maker", "B.put the hanger on the shelf", "C.push the cup to the left", "D.turn the hands of a clock" ] }, { "task_id": "0003246", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grab the block and place it at the black dot, B.pick up the cup, C.pick up the cup and make it upright, D.put the cup into the plate], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003246.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab the block and place it at the black dot", "B.pick up the cup", "C.pick up the cup and make it upright", "D.put the cup into the plate" ] }, { "task_id": "0003247", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the drink from the countertop to the plate, B.put the bottle into the box, C.pick up a bag of things, D.put the green block inside the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003247.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the drink from the countertop to the plate", "B.put the bottle into the box", "C.pick up a bag of things", "D.put the green block inside the bowl" ] }, { "task_id": "0003248", "task": "TrajChoice", "id": "RH20T_cfg6_task_0016_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button on the coffee machine, B.hit the pool ball, C.put the flyswatter in the specified position, D.turn on the light] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003248.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the coffee machine", "B.hit the pool ball", "C.put the flyswatter in the specified position", "D.turn on the light" ] }, { "task_id": "0003249", "task": "TrajChoice", "id": "RH20T_cfg4_task_0091_user_0014_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move an object from one box to another, B.take out the book from the shelf and place it on the right side of the shelf, C.pick up the yellow block on the back left side of the table and place it on top of the stacked blocks, D.put the cup on the cup rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003249.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move an object from one box to another", "B.take out the book from the shelf and place it on the right side of the shelf", "C.pick up the yellow block on the back left side of the table and place it on top of the stacked blocks", "D.put the cup on the cup rack" ] }, { "task_id": "0003250", "task": "TrajChoice", "id": "RH20T_cfg2_task_0029_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.will be the object moving to the designated position, and then wiping the table with a towel, B.take the object and scrub the inside of the jug, C.grasp the handle and open the drawer, D.build with small Lego blocks for the nth time with n blocks] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003250.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.will be the object moving to the designated position, and then wiping the table with a towel", "B.take the object and scrub the inside of the jug", "C.grasp the handle and open the drawer", "D.build with small Lego blocks for the nth time with n blocks" ] }, { "task_id": "0003251", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.throw the block onto the table, B.press the button on the machine to open, C.unscrew the lid from the jar, D.move the yellow plate from the right side to the left side] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003251.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the block onto the table", "B.press the button on the machine to open", "C.unscrew the lid from the jar", "D.move the yellow plate from the right side to the left side" ] }, { "task_id": "0003252", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press a button on the microwave, B.close the drawer, C.move the brown cup to the right, D.pour the items from the box onto the towel] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003252.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button on the microwave", "B.close the drawer", "C.move the brown cup to the right", "D.pour the items from the box onto the towel" ] }, { "task_id": "0003253", "task": "TrajChoice", "id": "RH20T_cfg4_task_0071_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the red marker from the cup, B.take the marker out of the glass cup and put it on the table, C.put the object in the second tier of the cabinet, D.close a sliding window] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003253.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the red marker from the cup", "B.take the marker out of the glass cup and put it on the table", "C.put the object in the second tier of the cabinet", "D.close a sliding window" ] }, { "task_id": "0003254", "task": "TrajChoice", "id": "RH20T_cfg3_task_0066_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the blue cup from the second shelf of the cabinet and put it on the top shelf, B.putting things, C.close the laptop, D.move the white block to the top of the green block structure], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003254.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the blue cup from the second shelf of the cabinet and put it on the top shelf", "B.putting things", "C.close the laptop", "D.move the white block to the top of the green block structure" ] }, { "task_id": "0003255", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cup on the cup rack, B.put the can on the metal object, C.fold the towel on the desk, D.assemble: attach the bubble ring to the ball], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003255.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the can on the metal object", "C.fold the towel on the desk", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003256", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.stack the boxes and put them on the table, B.pick up the watering can on the table to water the plant, C.take the cup out of the sink and put it in the orange cup, D.pour the contents of the bowl into the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003256.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the boxes and put them on the table", "B.pick up the watering can on the table to water the plant", "C.take the cup out of the sink and put it in the orange cup", "D.pour the contents of the bowl into the cup" ] }, { "task_id": "0003257", "task": "TrajChoice", "id": "RH20T_cfg5_task_0056_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.received the gray plush toy handed over by a person and placed it on the table, B.put the marker in the cup, C.put the lid on the pot then put the pot back on the counter, D.put the apple in the stand] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003257.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.received the gray plush toy handed over by a person and placed it on the table", "B.put the marker in the cup", "C.put the lid on the pot then put the pot back on the counter", "D.put the apple in the stand" ] }, { "task_id": "0003258", "task": "TrajChoice", "id": "RH20T_cfg1_task_0079_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp, B.move the clothes from the hanger to the box, C.put the pen in the bowl, D.open the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003258.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord of the desk lamp, turn on the socket, and light up the desk lamp", "B.move the clothes from the hanger to the box", "C.put the pen in the bowl", "D.open the microwave door" ] }, { "task_id": "0003259", "task": "TrajChoice", "id": "RH20T_cfg4_task_0107_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the garbage in the trash can, B.pour the beans from the cup into the bowl, C.move the blue object closer to the sink, D.put the blocks on the table, put the blocks on the table onto the green block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003259.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.pour the beans from the cup into the bowl", "C.move the blue object closer to the sink", "D.put the blocks on the table, put the blocks on the table onto the green block" ] }, { "task_id": "0003260", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn on the desk lamp by pressing the button, B.pick up the mug and put it down, C.take the marker out of the mug and put it on the table, D.put things in the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003260.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.pick up the mug and put it down", "C.take the marker out of the mug and put it on the table", "D.put things in the drawer" ] }, { "task_id": "0003261", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0004_cfg_0002_105422061350#460", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.fold the notebook on the desk, B.pull the bathroom curtain open, C.put things in the drawer, D.put some objects in the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003261.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the notebook on the desk", "B.pull the bathroom curtain open", "C.put things in the drawer", "D.put some objects in the pot" ] }, { "task_id": "0003262", "task": "TrajChoice", "id": "RH20T_cfg6_task_0068_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press a button horizontally with obstacles, B.move the object with the blue pattern from the shelf to the table, C.put the blue marker next to a disposable plastic spoon on the tabletop, D.put the orange block on the green block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003262.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press a button horizontally with obstacles", "B.move the object with the blue pattern from the shelf to the table", "C.put the blue marker next to a disposable plastic spoon on the tabletop", "D.put the orange block on the green block" ] }, { "task_id": "0003263", "task": "TrajChoice", "id": "RH20T_cfg1_task_0012_user_0001_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the pen into the pen holder, B.take out a Hanoi block and throw it aside, C.pressing the switch on the machine, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003263.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.take out a Hanoi block and throw it aside", "C.pressing the switch on the machine", "D.push the soccer ball into the goal" ] }, { "task_id": "0003264", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push down the lever, B.pick up the small block on the left and move it to the right, C.remove the lid from the glass container, D.put the wooden spoon in the metal rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003264.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.pick up the small block on the left and move it to the right", "C.remove the lid from the glass container", "D.put the wooden spoon in the metal rack" ] }, { "task_id": "0003265", "task": "TrajChoice", "id": "RH20T_cfg2_task_0049_user_0016_scene_0010_cfg_0002_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the dirt on the table to the left with a cloth, B.put the green towel on the white basket, C.rotate the steering wheel counterclockwise, D.put the large block next to the two small blocks], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003265.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the dirt on the table to the left with a cloth", "B.put the green towel on the white basket", "C.rotate the steering wheel counterclockwise", "D.put the large block next to the two small blocks" ] }, { "task_id": "0003267", "task": "TrajChoice", "id": "RH20T_cfg4_task_0074_user_0015_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wiping the whiteboard with an eraser, B.press the button horizontally, C.push in the leftmost handle of the foosball, then pull out the second from left handle, D.take the pencil out from the pencil sharpener] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003267.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wiping the whiteboard with an eraser", "B.press the button horizontally", "C.push in the leftmost handle of the foosball, then pull out the second from left handle", "D.take the pencil out from the pencil sharpener" ] }, { "task_id": "0003268", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up a small bottle from the plastic container and put it on the table, B.place the brush on the pen rack, C.put the bottle on the countertop, D.move the white bear to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003268.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small bottle from the plastic container and put it on the table", "B.place the brush on the pen rack", "C.put the bottle on the countertop", "D.move the white bear to the left" ] }, { "task_id": "0003269", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unfold the towel, B.press the button from top to bottom, C.put the cup in the bowl, D.sharpen the pencil with a pencil sharpener] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003269.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the towel", "B.press the button from top to bottom", "C.put the cup in the bowl", "D.sharpen the pencil with a pencil sharpener" ] }, { "task_id": "0003270", "task": "TrajChoice", "id": "RH20T_cfg4_task_0050_user_0014_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the marker and put it in the bowl, B.put the dish on the dish rack, C.close the open drawer, D.pick up an object and put it in the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003270.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker and put it in the bowl", "B.put the dish on the dish rack", "C.close the open drawer", "D.pick up an object and put it in the box" ] }, { "task_id": "0003272", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the water tap, B.put the object on the table, C.put the object on the stand, D.put the toilet paper on the toilet paper holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003272.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.put the object on the table", "C.put the object on the stand", "D.put the toilet paper on the toilet paper holder" ] }, { "task_id": "0003273", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.finish setting up the starting position of a chessboard that is almost arranged, B.move the marker to the right of the mug cup, C.put the bottle on the left side of the second shelf, D.use the blackboard eraser to clean the whiteboard] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003273.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.move the marker to the right of the mug cup", "C.put the bottle on the left side of the second shelf", "D.use the blackboard eraser to clean the whiteboard" ] }, { "task_id": "0003274", "task": "TrajChoice", "id": "RH20T_cfg3_task_0060_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the black object to the left, B.take the roll of paper down from the shelf, C.turn the knob to decrease the volume of the speaker, D.remove the object from the scale], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003274.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object to the left", "B.take the roll of paper down from the shelf", "C.turn the knob to decrease the volume of the speaker", "D.remove the object from the scale" ] }, { "task_id": "0003275", "task": "TrajChoice", "id": "RH20T_cfg2_task_0101_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.throw the white screwdriver on the counter, B.clean the table with a cloth, C.the folded towel, D.put the grey object in the orange cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003275.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throw the white screwdriver on the counter", "B.clean the table with a cloth", "C.the folded towel", "D.put the grey object in the orange cup" ] }, { "task_id": "0003276", "task": "TrajChoice", "id": "RH20T_cfg4_task_0024_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button on the power outlet, B.put the white bottle on the table into the bag, C.wipe the counter with the grey towel, D.pull down the green cup] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003276.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the power outlet", "B.put the white bottle on the table into the bag", "C.wipe the counter with the grey towel", "D.pull down the green cup" ] }, { "task_id": "0003277", "task": "TrajChoice", "id": "RH20T_cfg4_task_0006_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the block on the desk to the left, B.put the object upright on the table, C.put the object into the bag, D.the building blocks], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003277.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the block on the desk to the left", "B.put the object upright on the table", "C.put the object into the bag", "D.the building blocks" ] }, { "task_id": "0003278", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the sharpie on the table, B.pick up a small block, C.fold the cloth, D.put the rubber band around the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003278.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the sharpie on the table", "B.pick up a small block", "C.fold the cloth", "D.put the rubber band around the cup" ] }, { "task_id": "0003279", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0012_scene_0006_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.folding a towel on the table, B.turn on the desk lamp by pressing the button, C.fold the pink towel in half, D.take the object down from the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003279.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a towel on the table", "B.turn on the desk lamp by pressing the button", "C.fold the pink towel in half", "D.take the object down from the shelf" ] }, { "task_id": "0003280", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.drag the plate to the goal post after holding it down, B.press the button on the game controller, C.move the plush toy from the middle above the table to the lower left corner of the table, D.place the mug on the coffee maker] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003280.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.press the button on the game controller", "C.move the plush toy from the middle above the table to the lower left corner of the table", "D.place the mug on the coffee maker" ] }, { "task_id": "0003281", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.screw the lid on the bottle, B.arranging items, C.move the deep blue cup to the left, D.take the plate from the dishwasher and put it on the stack of white plates on the countertop] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003281.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid on the bottle", "B.arranging items", "C.move the deep blue cup to the left", "D.take the plate from the dishwasher and put it on the stack of white plates on the countertop" ] }, { "task_id": "0003282", "task": "TrajChoice", "id": "RH20T_cfg1_task_0070_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.slice the lotus root, B.open a sliding window, C.move the cup from the left side of the table to the right side of the table, D.fold the towel into a triangle twice] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003282.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slice the lotus root", "B.open a sliding window", "C.move the cup from the left side of the table to the right side of the table", "D.fold the towel into a triangle twice" ] }, { "task_id": "0003283", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the marker on the countertop, B.sliding the towel on the table, C.put the coffee capsule on the table, D.cover the gift box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003283.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the countertop", "B.sliding the towel on the table", "C.put the coffee capsule on the table", "D.cover the gift box" ] }, { "task_id": "0003284", "task": "TrajChoice", "id": "RH20T_cfg5_task_0051_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the dish off the dish rack, B.pick up the yellow block and stack it on top of the rubix cube, then pick up the brown block and stack it on top of the yellow block, C.put the throw pillows together, D.put the rubik's cube on the top of the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003284.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.pick up the yellow block and stack it on top of the rubix cube, then pick up the brown block and stack it on top of the yellow block", "C.put the throw pillows together", "D.put the rubik's cube on the top of the shelf" ] }, { "task_id": "0003285", "task": "TrajChoice", "id": "RH20T_cfg1_task_0026_user_0001_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the box lid, B.close the drawer, C.press the bread machine button, D.put the black box in the dish rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003285.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the box lid", "B.close the drawer", "C.press the bread machine button", "D.put the black box in the dish rack" ] }, { "task_id": "0003286", "task": "TrajChoice", "id": "RH20T_cfg4_task_0073_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the pen into the pen holder, B.move the black bag to the middle of the sofa, C.take the block from the desktop and put it into the open drawer, D.open the compartment in the washing machine] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003286.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.move the black bag to the middle of the sofa", "C.take the block from the desktop and put it into the open drawer", "D.open the compartment in the washing machine" ] }, { "task_id": "0003287", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the white bucket on the table, B.open a box, C.play the drum, D.take the dish off the dish rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003287.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white bucket on the table", "B.open a box", "C.play the drum", "D.take the dish off the dish rack" ] }, { "task_id": "0003288", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.push the soccer ball into the goal, B.turn off the laptop's screen, C.pick up the purple toy from the table and put it in the bowl, D.throw the screwdriver into the open drawer and then close the drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003288.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.turn off the laptop's screen", "C.pick up the purple toy from the table and put it in the bowl", "D.throw the screwdriver into the open drawer and then close the drawer" ] }, { "task_id": "0003289", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the lid on the pot, B.pressing the black keys of the piano, C.turn off the water tap, D.put the wrapper farthest from you in the bin], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003289.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid on the pot", "B.pressing the black keys of the piano", "C.turn off the water tap", "D.put the wrapper farthest from you in the bin" ] }, { "task_id": "0003290", "task": "TrajChoice", "id": "RH20T_cfg6_task_0019_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.fold the black cloth, B.rotate the basket counterclockwise to stand up, C.place the black stone on the board, D.insert the pencil into the pencil sharpener], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003290.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the black cloth", "B.rotate the basket counterclockwise to stand up", "C.place the black stone on the board", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0003291", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0004_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the drying rack to the designated position, B.put the can in the sink, C.put the sock in the laundry basket, D.assemble one piece of a puzzle] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003291.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the drying rack to the designated position", "B.put the can in the sink", "C.put the sock in the laundry basket", "D.assemble one piece of a puzzle" ] }, { "task_id": "0003292", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.stacking blocks (small Lego) one on top of the other every time, B.folded napkin, C.put the rope into the hole of the black object on the table, D.put the toy inside the pot in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003292.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks (small Lego) one on top of the other every time", "B.folded napkin", "C.put the rope into the hole of the black object on the table", "D.put the toy inside the pot in the sink" ] }, { "task_id": "0003293", "task": "TrajChoice", "id": "RH20T_cfg5_task_0064_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object in the transparent box on the table, B.put a silver spoon and a silver fork on the dishrack, C.move the stapler to the right then move the spatula forwards, D.take the roll of paper down from the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003293.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the transparent box on the table", "B.put a silver spoon and a silver fork on the dishrack", "C.move the stapler to the right then move the spatula forwards", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0003294", "task": "TrajChoice", "id": "RH20T_cfg3_task_0047_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.chop the chili peppers, B.throw the paper into the trash can, C.press the lid of the kettle, D.take the cup off the cup rack], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003294.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the chili peppers", "B.throw the paper into the trash can", "C.press the lid of the kettle", "D.take the cup off the cup rack" ] }, { "task_id": "0003295", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the white cup behind the bowl rack, B.pick up the napkin and place it on the booklet on the table, C.play the drum, D.place the spoon upright], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003295.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cup behind the bowl rack", "B.pick up the napkin and place it on the booklet on the table", "C.play the drum", "D.place the spoon upright" ] }, { "task_id": "0003296", "task": "TrajChoice", "id": "RH20T_cfg6_task_0001_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pour the brown object from the transparent jar into the bowl, B.take the spoon out of the mug and put it on the table, C.put the toy on the table, D.press the red button on the white base] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003296.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the brown object from the transparent jar into the bowl", "B.take the spoon out of the mug and put it on the table", "C.put the toy on the table", "D.press the red button on the white base" ] }, { "task_id": "0003297", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the red T-shaped object in the blue cup, B.click the mouse, C.pull the book and lay it flat on the table, D.push the soccer ball into the goal] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003297.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the red T-shaped object in the blue cup", "B.click the mouse", "C.pull the book and lay it flat on the table", "D.push the soccer ball into the goal" ] }, { "task_id": "0003298", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.transfer the object knife to the table, B.pick up a small block, C.push the lid of the gift box onto the box, D.take the lid from the top of the black pot and put it at the right of the stove then remove the purple object from the pot and put it on the stove] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003298.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object knife to the table", "B.pick up a small block", "C.push the lid of the gift box onto the box", "D.take the lid from the top of the black pot and put it at the right of the stove then remove the purple object from the pot and put it on the stove" ] }, { "task_id": "0003299", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the cup to the top left shelf, B.press the switch on the right side of the wall, C.insert the pencil into the pencil sharpener, D.put the fruit into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003299.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the top left shelf", "B.press the switch on the right side of the wall", "C.insert the pencil into the pencil sharpener", "D.put the fruit into the bowl" ] }, { "task_id": "0003300", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the block in the bowl, B.screw the lid onto the jar (needs to be rotated), C.push the open drawer closed, D.put the masking tape on the plate] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003300.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block in the bowl", "B.screw the lid onto the jar (needs to be rotated)", "C.push the open drawer closed", "D.put the masking tape on the plate" ] }, { "task_id": "0003301", "task": "TrajChoice", "id": "RH20T_cfg6_task_0024_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.wipe the table, B.take the marker from the bowl and put it on the table, C.turn off the power strip by pressing the button, D.put the blocks on top of the number block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003301.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table", "B.take the marker from the bowl and put it on the table", "C.turn off the power strip by pressing the button", "D.put the blocks on top of the number block" ] }, { "task_id": "0003302", "task": "TrajChoice", "id": "RH20T_cfg1_task_0079_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use a marker to write on the board, B.move the cup slightly to the center of the desk, C.open the microwave door, D.remove the marker from the mug], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003302.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a marker to write on the board", "B.move the cup slightly to the center of the desk", "C.open the microwave door", "D.remove the marker from the mug" ] }, { "task_id": "0003303", "task": "TrajChoice", "id": "RH20T_cfg5_task_0072_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drop a coin into the piggy bank, B.close the cabinet door, C.pick up the bottle from the table and put it on the shelf, D.move the object on top of the microwave to the paper towel] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003303.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into the piggy bank", "B.close the cabinet door", "C.pick up the bottle from the table and put it on the shelf", "D.move the object on top of the microwave to the paper towel" ] }, { "task_id": "0003304", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the white box on the left side of the sink to the right side of the sink, B.press the key on the keyboard, C.take the pen out of the bowl and put it on the table, D.the pharmaceutical experiment will insert a tip of a medium pipette into the holder for medium pipette tips], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003304.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white box on the left side of the sink to the right side of the sink", "B.press the key on the keyboard", "C.take the pen out of the bowl and put it on the table", "D.the pharmaceutical experiment will insert a tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0003305", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the marker from the silver pot and place it on the table, B.pick up the towel from the bag and drop it on the floor, C.move the kettle to the left, D.stacking blocks (small Lego) randomly one at a time], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003305.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the silver pot and place it on the table", "B.pick up the towel from the bag and drop it on the floor", "C.move the kettle to the left", "D.stacking blocks (small Lego) randomly one at a time" ] }, { "task_id": "0003307", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.swat with a flyswatter, B.push an object forward to the left, C.hit the pool ball, D.put the green block on the other green block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003307.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.push an object forward to the left", "C.hit the pool ball", "D.put the green block on the other green block" ] }, { "task_id": "0003309", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the cup in the sink, B.push the wooden block to move, C.open the white lid, D.fold the cloth once] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003309.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the cup in the sink", "B.push the wooden block to move", "C.open the white lid", "D.fold the cloth once" ] }, { "task_id": "0003310", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the microwave door, B.remove all the clothes from the box and put them on the table, C.use the gripper to push and close the drawer, D.remove the grape plush from the stove and put it in the sink pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003310.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the microwave door", "B.remove all the clothes from the box and put them on the table", "C.use the gripper to push and close the drawer", "D.remove the grape plush from the stove and put it in the sink pot" ] }, { "task_id": "0003311", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.transfer the object to the designated location, B.pick up the yellow object from the middle area of the table and move it to above the left side area of the table, and put it down, C.wave the flag, D.move the glass jar to the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003311.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object to the designated location", "B.pick up the yellow object from the middle area of the table and move it to above the left side area of the table, and put it down", "C.wave the flag", "D.move the glass jar to the left" ] }, { "task_id": "0003312", "task": "TrajChoice", "id": "RH20T_cfg5_task_0006_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the mug to the right, B.turn on the water tap, C.use the gripper to push the small block from left to right, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003312.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug to the right", "B.turn on the water tap", "C.use the gripper to push the small block from left to right", "D.push the soccer ball into the goal" ] }, { "task_id": "0003313", "task": "TrajChoice", "id": "RH20T_cfg4_task_0080_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.flip over the paper, B.take the objects on the table into the bowl, C.turn off the first switch on the left, D.move the pen from the table to the silver cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003313.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.flip over the paper", "B.take the objects on the table into the bowl", "C.turn off the first switch on the left", "D.move the pen from the table to the silver cup" ] }, { "task_id": "0003314", "task": "TrajChoice", "id": "RH20T_cfg4_task_0001_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the white object in the plate, B.take the straw out of the cup and place it on the table, C.transfer the block from the bowl to the table, D.press the button from top to bottom], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003314.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white object in the plate", "B.take the straw out of the cup and place it on the table", "C.transfer the block from the bowl to the table", "D.press the button from top to bottom" ] }, { "task_id": "0003315", "task": "TrajChoice", "id": "RH20T_cfg4_task_0122_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.grab a white object on the table, B.move the fork from the yellow plate to the brown plate, then put it down, C.put the knife on the cutting board, D.put the glue stick inside the open drawer], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003315.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a white object on the table", "B.move the fork from the yellow plate to the brown plate, then put it down", "C.put the knife on the cutting board", "D.put the glue stick inside the open drawer" ] }, { "task_id": "0003316", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the black object from the windowsill to the tabletop, B.plug in the bulb holder to the socket, C.remove a bottle from the container and put it on the table, D.take the white object from the desk and put it into the drawer on the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003316.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object from the windowsill to the tabletop", "B.plug in the bulb holder to the socket", "C.remove a bottle from the container and put it on the table", "D.take the white object from the desk and put it into the drawer on the right" ] }, { "task_id": "0003317", "task": "TrajChoice", "id": "RH20T_cfg4_task_0092_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the hood over his head, B.insert the pencil into the pencil sharpener, C.move the object from the table to the shelf, D.turn the hands of a clock], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003317.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the hood over his head", "B.insert the pencil into the pencil sharpener", "C.move the object from the table to the shelf", "D.turn the hands of a clock" ] }, { "task_id": "0003320", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the black pieces on the chessboard, B.move the note from the table to the plate, C.take the bottle from the left side of the tray and put it on the table on the left side of the tray, D.put the rubber duck in the silver pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003320.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black pieces on the chessboard", "B.move the note from the table to the plate", "C.take the bottle from the left side of the tray and put it on the table on the left side of the tray", "D.put the rubber duck in the silver pot" ] }, { "task_id": "0003321", "task": "TrajChoice", "id": "RH20T_cfg6_task_0055_user_0014_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the bottle from the table to the plastic bag, B.put the orange cup into the blue cup, C.pick up a bag of things, D.transfer liquid using a dropper] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003321.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the bottle from the table to the plastic bag", "B.put the orange cup into the blue cup", "C.pick up a bag of things", "D.transfer liquid using a dropper" ] }, { "task_id": "0003322", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.mobile gloves, B.move the green jar from the sink to the countertop, C.sharpen the pencil with a pencil sharpener, D.take the lid off and place it on the table] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003322.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.mobile gloves", "B.move the green jar from the sink to the countertop", "C.sharpen the pencil with a pencil sharpener", "D.take the lid off and place it on the table" ] }, { "task_id": "0003323", "task": "TrajChoice", "id": "RH20T_cfg6_task_0006_user_0014_scene_0004_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the topmost block from the tower to the table, B.take the cup off the cup rack, C.use the gripper to push the small block from left to right, D.pick up the pen from the table and put it in the mug cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003323.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the topmost block from the tower to the table", "B.take the cup off the cup rack", "C.use the gripper to push the small block from left to right", "D.pick up the pen from the table and put it in the mug cup" ] }, { "task_id": "0003324", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put an orange chip in the blue gameboard, B.move the green sponge to the left, C.put the blue disc on the table, D.pick up a bag of things] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003324.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put an orange chip in the blue gameboard", "B.move the green sponge to the left", "C.put the blue disc on the table", "D.pick up a bag of things" ] }, { "task_id": "0003325", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.screw the lid onto the jar, B.put the spoon in the plate, C.remove the marker from the mug cup and place it on the table, D.pick up the paper with the back side facing up and put it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003325.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.put the spoon in the plate", "C.remove the marker from the mug cup and place it on the table", "D.pick up the paper with the back side facing up and put it down" ] }, { "task_id": "0003326", "task": "TrajChoice", "id": "RH20T_cfg6_task_0054_user_0014_scene_0006_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.grasp the moving object, B.move the white bowl to the right side of the sink, C.take the blue lid from the table and put it on the peanut butter bottle, D.open the cabinet door on the far right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003326.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the moving object", "B.move the white bowl to the right side of the sink", "C.take the blue lid from the table and put it on the peanut butter bottle", "D.open the cabinet door on the far right" ] }, { "task_id": "0003327", "task": "TrajChoice", "id": "RH20T_cfg4_task_0044_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the kettle on the stove, B.remove the object from the scale, C.put the toothpaste on the right side of the desk, D.pick up a bag of things], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003327.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the kettle on the stove", "B.remove the object from the scale", "C.put the toothpaste on the right side of the desk", "D.pick up a bag of things" ] }, { "task_id": "0003328", "task": "TrajChoice", "id": "RH20T_cfg5_task_0044_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the green object next to the cup, B.place the cup from the sink onto the counter, C.pick up a bag of things, D.remove the black remote from the white pillow, place it on the brown fleece and then cover the remote with the fleece] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003328.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the green object next to the cup", "B.place the cup from the sink onto the counter", "C.pick up a bag of things", "D.remove the black remote from the white pillow, place it on the brown fleece and then cover the remote with the fleece" ] }, { "task_id": "0003329", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the cap on the windowsill to the left, B.press a button from top to bottom with obstacles, C.move the soda can to the left counter, D.take the object in the bowl to the table, put the object on the table into the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003329.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cap on the windowsill to the left", "B.press a button from top to bottom with obstacles", "C.move the soda can to the left counter", "D.take the object in the bowl to the table, put the object on the table into the bowl" ] }, { "task_id": "0003330", "task": "TrajChoice", "id": "RH20T_cfg6_task_0045_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the marker out of the cup, B.place the brush on the pen rack, C.turn the faucet nozzle to the left, D.remove the marker from the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003330.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup", "B.place the brush on the pen rack", "C.turn the faucet nozzle to the left", "D.remove the marker from the bowl" ] }, { "task_id": "0003331", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0017_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the blue button on the right side of the machine, B.take out a tissue from the tissue box and put it on the table, C.remove the salt shaker from the brown basket and put it on the bottom white rack, D.insert the tip of a large pipette into the holder for large pipette tips] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003331.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the blue button on the right side of the machine", "B.take out a tissue from the tissue box and put it on the table", "C.remove the salt shaker from the brown basket and put it on the bottom white rack", "D.insert the tip of a large pipette into the holder for large pipette tips" ] }, { "task_id": "0003332", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the marker out of the cup and place it on the table, B.move the cup to the right, C.water the plant, D.put the transparent box on the tabletop], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003332.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the cup and place it on the table", "B.move the cup to the right", "C.water the plant", "D.put the transparent box on the tabletop" ] }, { "task_id": "0003333", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the pen from the mug and put it on the table, B.put the cloth on the table, C.put things in the drawer, D.push the chair out] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003333.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the pen from the mug and put it on the table", "B.put the cloth on the table", "C.put things in the drawer", "D.push the chair out" ] }, { "task_id": "0003334", "task": "TrajChoice", "id": "RH20T_cfg2_task_0073_user_0007_scene_0010_cfg_0002_105422061350#424", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the basket upside down on the table, B.put the glue stick inside the mug cup, C.move the wooden object furthest to the right forward, D.put things in the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003334.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the basket upside down on the table", "B.put the glue stick inside the mug cup", "C.move the wooden object furthest to the right forward", "D.put things in the drawer" ] }, { "task_id": "0003335", "task": "TrajChoice", "id": "RH20T_cfg4_task_0067_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cylinder on top of the blue block, B.put the lid on the pot, C.clean the box, D.press a button from top to bottom with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003335.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cylinder on top of the blue block", "B.put the lid on the pot", "C.clean the box", "D.press a button from top to bottom with obstacles" ] }, { "task_id": "0003336", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the handset of the telephone on the corresponding phone cradle, B.pick up the can from the counter and put it on the shelf, C.open the book, D.straighten the white rope on the black object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003336.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.pick up the can from the counter and put it on the shelf", "C.open the book", "D.straighten the white rope on the black object" ] }, { "task_id": "0003337", "task": "TrajChoice", "id": "RH20T_cfg6_task_0022_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the lid and put it on the pot, B.play the drum, C.wave the flag, D.put a cup on the metal object], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003337.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid and put it on the pot", "B.play the drum", "C.wave the flag", "D.put a cup on the metal object" ] }, { "task_id": "0003338", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0007_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the blue cup from the right bottom cabinet to the countertop, B.press the stove control panel, C.press the switch on the adapter, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003338.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue cup from the right bottom cabinet to the countertop", "B.press the stove control panel", "C.press the switch on the adapter", "D.pull out a napkin" ] }, { "task_id": "0003339", "task": "TrajChoice", "id": "RH20T_cfg6_task_0014_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the object from the scale, B.open the black bag and take out the block, C.clean the table, D.open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003339.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.open the black bag and take out the block", "C.clean the table", "D.open the drawer" ] }, { "task_id": "0003340", "task": "TrajChoice", "id": "RH20T_cfg2_task_0079_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pour the contents of the cup into the white bowl, B.transfer the ball from the bowl to the table, C.pick up the cup from the table, pour some of its contents into the orange bowl, and place the cup back on the table, D.open the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003340.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the cup into the white bowl", "B.transfer the ball from the bowl to the table", "C.pick up the cup from the table, pour some of its contents into the orange bowl, and place the cup back on the table", "D.open the microwave door" ] }, { "task_id": "0003341", "task": "TrajChoice", "id": "RH20T_cfg4_task_0045_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the brush on the pen rack, B.fold the towel in half, C.put the cup on the cup rack, D.pick up the silver spoon from the green plate and put it on the light blue plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003341.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.fold the towel in half", "C.put the cup on the cup rack", "D.pick up the silver spoon from the green plate and put it on the light blue plate" ] }, { "task_id": "0003342", "task": "TrajChoice", "id": "RH20T_cfg2_task_0002_user_0006_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the corn cob and put it on the frying pan, B.sliding the pot to the right rear of the stove, C.the folded paper, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003342.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the corn cob and put it on the frying pan", "B.sliding the pot to the right rear of the stove", "C.the folded paper", "D.pull out a napkin" ] }, { "task_id": "0003343", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0010_scene_0001_cfg_0001_819112070044#284", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pull out a napkin, B.use the wooden spoon to stir the water in the white pot, C.move the silver bowl to the left, D.take the object on the left from the desk and put it into the drawer, then close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003343.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.use the wooden spoon to stir the water in the white pot", "C.move the silver bowl to the left", "D.take the object on the left from the desk and put it into the drawer, then close the drawer" ] }, { "task_id": "0003344", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.insert the plug into the power strip, B.press the button from top to bottom, C.put the chopstick in the bowl, D.take the screwdriver from the cabinet and put it near the window], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003344.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the plug into the power strip", "B.press the button from top to bottom", "C.put the chopstick in the bowl", "D.take the screwdriver from the cabinet and put it near the window" ] }, { "task_id": "0003345", "task": "TrajChoice", "id": "RH20T_cfg7_task_0016_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hit the pool ball, B.pick up the pen from the desk and put it into the cup, C.use the correction tape on paper, D.press the button on the machine] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003345.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.pick up the pen from the desk and put it into the cup", "C.use the correction tape on paper", "D.press the button on the machine" ] }, { "task_id": "0003346", "task": "TrajChoice", "id": "RH20T_cfg2_task_0074_user_0014_scene_0006_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pull out a napkin, B.place the object amongst the other small objects, C.press the button horizontally, D.open the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003346.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.place the object amongst the other small objects", "C.press the button horizontally", "D.open the drawer" ] }, { "task_id": "0003347", "task": "TrajChoice", "id": "RH20T_cfg5_task_0018_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the kettle, B.play jenga, C.put the rubber duck in the pot, D.put the black plastic knife into the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003347.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the kettle", "B.play jenga", "C.put the rubber duck in the pot", "D.put the black plastic knife into the cup" ] }, { "task_id": "0003348", "task": "TrajChoice", "id": "RH20T_cfg5_task_0055_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.the rotary dial of an old-fashioned telephone, B.transfer a liquid using a dropper, C.pull the dark red cloth to the edge of the table, D.remove the black marker from the blue and white box and place it on top of the brown book] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003348.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the rotary dial of an old-fashioned telephone", "B.transfer a liquid using a dropper", "C.pull the dark red cloth to the edge of the table", "D.remove the black marker from the blue and white box and place it on top of the brown book" ] }, { "task_id": "0003349", "task": "TrajChoice", "id": "RH20T_cfg2_task_0206_user_0007_scene_0011_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the black clothing in the box, B.chop the green garlic, C.press the spray bottle, D.pick up the can from the counter and put it on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003349.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the black clothing in the box", "B.chop the green garlic", "C.press the spray bottle", "D.pick up the can from the counter and put it on the shelf" ] }, { "task_id": "0003350", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the soccer ball to the left rear, B.holding a small block with the gripper and sweeping it from left to right on the table, C.place a block on the scale, D.put the chopsticks inside the plastic container] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003350.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball to the left rear", "B.holding a small block with the gripper and sweeping it from left to right on the table", "C.place a block on the scale", "D.put the chopsticks inside the plastic container" ] }, { "task_id": "0003351", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the tap nozzle to the right, B.play the drum, C.put the straw on the counter, D.press the first switch on the upper right side of the machine], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003351.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the tap nozzle to the right", "B.play the drum", "C.put the straw on the counter", "D.press the first switch on the upper right side of the machine" ] }, { "task_id": "0003352", "task": "TrajChoice", "id": "RH20T_cfg4_task_0209_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slice the radish with a kitchen knife, B.close the cabinet door, C.pick up the pee plush toy from the pot and drop it in the sink, D.finish setting up the starting position of a chessboard that is almost arranged] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003352.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slice the radish with a kitchen knife", "B.close the cabinet door", "C.pick up the pee plush toy from the pot and drop it in the sink", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0003353", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0013_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.drop a coin into a piggy bank, B.push the cloth on the table to the left, C.pick up a bag of things, D.press the lever of the toaster] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003353.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.push the cloth on the table to the left", "C.pick up a bag of things", "D.press the lever of the toaster" ] }, { "task_id": "0003354", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the water tap, B.move the blue cup on the right to the left, C.take the object from the third pillar and put it on the first pillar, D.pull out the second drawer on the left], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003354.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.move the blue cup on the right to the left", "C.take the object from the third pillar and put it on the first pillar", "D.pull out the second drawer on the left" ] }, { "task_id": "0003355", "task": "TrajChoice", "id": "RH20T_cfg5_task_0026_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the lever switch of the bread machine, B.use the gripper to push and close the drawer, C.put the marker from the table into the mug, D.put the gray object in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003355.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the lever switch of the bread machine", "B.use the gripper to push and close the drawer", "C.put the marker from the table into the mug", "D.put the gray object in the bowl" ] }, { "task_id": "0003357", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the tap to the right and close the tap, B.put the bottle on the table, C.build with small Lego blocks for the nth time with n blocks, D.turn the knob to increase the volume of the speaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003357.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the tap to the right and close the tap", "B.put the bottle on the table", "C.build with small Lego blocks for the nth time with n blocks", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0003358", "task": "TrajChoice", "id": "RH20T_cfg2_task_0062_user_0007_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.take the bag to the left side of the table, C.place the bottle on the left side of the table, D.pick up the object from the stove and put it in the paper bag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003358.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.take the bag to the left side of the table", "C.place the bottle on the left side of the table", "D.pick up the object from the stove and put it in the paper bag" ] }, { "task_id": "0003359", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up and place an object with obstacles, B.unfolding a towel on the table, C.move the blue bowl to the left, D.move the tap to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003359.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.unfolding a towel on the table", "C.move the blue bowl to the left", "D.move the tap to the left" ] }, { "task_id": "0003360", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push an object with obstacles, B.move the cup from the sink to the stove, C.pick up the cup and move it to the left side of the table, D.pick up the towel and hang it on the object] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003360.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push an object with obstacles", "B.move the cup from the sink to the stove", "C.pick up the cup and move it to the left side of the table", "D.pick up the towel and hang it on the object" ] }, { "task_id": "0003361", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0019_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.drop a coin into a piggy bank, B.put the blocks from the bag onto the table, C.take the cup off the cup rack, D.press a button on the washing machine], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003361.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drop a coin into a piggy bank", "B.put the blocks from the bag onto the table", "C.take the cup off the cup rack", "D.press a button on the washing machine" ] }, { "task_id": "0003362", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button on the remote, B.move the gray shirt's location, C.holding a small block with the gripper and sweeping it from left to right on the table, D.unscrew the lid from the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003362.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the remote", "B.move the gray shirt's location", "C.holding a small block with the gripper and sweeping it from left to right on the table", "D.unscrew the lid from the jar" ] }, { "task_id": "0003363", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the screwdriver in the open drawer then close the drawer, B.place the block on the scale, C.put a left towel on the counter, D.move the basketball to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003363.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the screwdriver in the open drawer then close the drawer", "B.place the block on the scale", "C.put a left towel on the counter", "D.move the basketball to the right" ] }, { "task_id": "0003364", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick the marker and put it in the cup, B.put the item on the table, C.take the roll of paper down from the shelf, D.pick up the snack from the sink and place it on the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003364.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the marker and put it in the cup", "B.put the item on the table", "C.take the roll of paper down from the shelf", "D.pick up the snack from the sink and place it on the counter" ] }, { "task_id": "0003365", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the microwave door, B.pick up a small block, C.turn the spoon, D.grasp the handle and open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003365.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.pick up a small block", "C.turn the spoon", "D.grasp the handle and open the drawer" ] }, { "task_id": "0003366", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.drag the plate to the goal post after holding it down, B.pour the contents of the white mug into the orange bowl, C.tip the white mug over, D.take the marker out of the grey bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003366.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.pour the contents of the white mug into the orange bowl", "C.tip the white mug over", "D.take the marker out of the grey bowl" ] }, { "task_id": "0003367", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.approach and touch an object with obstacles, C.close the upper drawer, D.take an egg from the tray and place it on the counter], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003367.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.approach and touch an object with obstacles", "C.close the upper drawer", "D.take an egg from the tray and place it on the counter" ] }, { "task_id": "0003368", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the green ball on the bottle, B.move the bowl in the sink to the left side, C.put the box on the top shelf, D.put the cup on the cup rack], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003368.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green ball on the bottle", "B.move the bowl in the sink to the left side", "C.put the box on the top shelf", "D.put the cup on the cup rack" ] }, { "task_id": "0003369", "task": "TrajChoice", "id": "RH20T_cfg2_task_0084_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the pen from the table and place it in the white bowl, B.assemble: attach the bubble ring to the ball, C.press the spray bottle, D.pick the white object and move it to the left on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003369.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen from the table and place it in the white bowl", "B.assemble: attach the bubble ring to the ball", "C.press the spray bottle", "D.pick the white object and move it to the left on the table" ] }, { "task_id": "0003371", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0006_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the roll of paper down from the shelf, B.put the white object in the blue box, C.slide the lid of the bowl to the right, D.remove the lid from the bucket and place it on the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003371.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the white object in the blue box", "C.slide the lid of the bowl to the right", "D.remove the lid from the bucket and place it on the table" ] }, { "task_id": "0003372", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the orange object in the bowl, B.push the soccer ball into the goal, C.close the drawer, D.throw the green square into the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003372.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange object in the bowl", "B.push the soccer ball into the goal", "C.close the drawer", "D.throw the green square into the bowl" ] }, { "task_id": "0003373", "task": "TrajChoice", "id": "RH20T_cfg7_task_0051_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.use the gripper to push the small block from left to right, B.take the dish off the dish rack, C.remove the lid from the black pot and place it on the counter, D.pulled the blanket toward the edge of the bed] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003373.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push the small block from left to right", "B.take the dish off the dish rack", "C.remove the lid from the black pot and place it on the counter", "D.pulled the blanket toward the edge of the bed" ] }, { "task_id": "0003374", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open a box, B.turn the faucet handle counterclockwise, then open the faucet, C.move the metal basket forward, D.holding a small block with the gripper and sweeping it from left to right on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003374.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.turn the faucet handle counterclockwise, then open the faucet", "C.move the metal basket forward", "D.holding a small block with the gripper and sweeping it from left to right on the table" ] }, { "task_id": "0003375", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0003_scene_0001_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the object above the object, B.pick up the small block on the left and move it to the right, C.press the machine switch, D.close the topmost drawer of the cabinet to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003375.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object above the object", "B.pick up the small block on the left and move it to the right", "C.press the machine switch", "D.close the topmost drawer of the cabinet to the left" ] }, { "task_id": "0003376", "task": "TrajChoice", "id": "RH20T_cfg2_task_0031_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the drink into the bowl, B.cover the box, C.put some of the objects in the bowl into the cup, D.throw the screwdriver into the topmost drawer and then close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003376.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the drink into the bowl", "B.cover the box", "C.put some of the objects in the bowl into the cup", "D.throw the screwdriver into the topmost drawer and then close the drawer" ] }, { "task_id": "0003377", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.open the basket of the air fryer, then close it, B.cover the pot with the lid, C.use a towel to wipe the counter, D.move the mug slightly to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003377.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the basket of the air fryer, then close it", "B.cover the pot with the lid", "C.use a towel to wipe the counter", "D.move the mug slightly to the left" ] }, { "task_id": "0003378", "task": "TrajChoice", "id": "RH20T_cfg7_task_0008_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the object to the right side of the table, B.push the faucet switch to turn off the faucet, C.grab the block and place it at the designated location, D.move the marker to the left side of the desk], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003378.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the object to the right side of the table", "B.push the faucet switch to turn off the faucet", "C.grab the block and place it at the designated location", "D.move the marker to the left side of the desk" ] }, { "task_id": "0003379", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0018_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the lid of the silver pot on the table, B.close then open the door, C.grasping the moving object, D.after removing the cup, put the cup back], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003379.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lid of the silver pot on the table", "B.close then open the door", "C.grasping the moving object", "D.after removing the cup, put the cup back" ] }, { "task_id": "0003381", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the orange block from the table and place it on top of the green block, B.push on the stapler, C.grasp the handle and open the drawer, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003381.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the orange block from the table and place it on top of the green block", "B.push on the stapler", "C.grasp the handle and open the drawer", "D.play the drum" ] }, { "task_id": "0003382", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.cover the kettle with the lid, B.remove the jar from the box and put it on the white tray, C.pick up the marker and put it in the cup, D.put the orange block on top of a green cube on the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003382.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.cover the kettle with the lid", "B.remove the jar from the box and put it on the white tray", "C.pick up the marker and put it in the cup", "D.put the orange block on top of a green cube on the left" ] }, { "task_id": "0003383", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take a tissue out of the tissue box and put it on the table, B.remove the lid from the pot and place it on the table, C.push the soccer ball towards the goal, D.move the yellow block backwards] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003383.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take a tissue out of the tissue box and put it on the table", "B.remove the lid from the pot and place it on the table", "C.push the soccer ball towards the goal", "D.move the yellow block backwards" ] }, { "task_id": "0003384", "task": "TrajChoice", "id": "RH20T_cfg6_task_0015_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the screwdriver from the rack, put it in the yellow cup, and then remove the white object from the table and put it in the box, B.put the black packet inside the sink on the left, C.play the drum, D.take a gray block from the desktop and move it to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003384.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the screwdriver from the rack, put it in the yellow cup, and then remove the white object from the table and put it in the box", "B.put the black packet inside the sink on the left", "C.play the drum", "D.take a gray block from the desktop and move it to the left" ] }, { "task_id": "0003385", "task": "TrajChoice", "id": "RH20T_cfg5_task_0005_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the colored clothes into the bag, B.turn on the desk lamp by pressing the button, C.gently push the block, D.close the open drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003385.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the colored clothes into the bag", "B.turn on the desk lamp by pressing the button", "C.gently push the block", "D.close the open drawer" ] }, { "task_id": "0003386", "task": "TrajChoice", "id": "RH20T_cfg6_task_0017_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the spoon in the bowl, B.moving an object from the stove to the bowl, C.put the pen into the pen holder, D.counterclockwise rotation of the faucet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003386.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon in the bowl", "B.moving an object from the stove to the bowl", "C.put the pen into the pen holder", "D.counterclockwise rotation of the faucet" ] }, { "task_id": "0003387", "task": "TrajChoice", "id": "RH20T_cfg2_task_0215_user_0007_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.chop the potatoes, B.pick up the small block on the right, move it to the left, and then put it down, C.move the tilted kettle to an upright position, D.move the doll to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003387.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the potatoes", "B.pick up the small block on the right, move it to the left, and then put it down", "C.move the tilted kettle to an upright position", "D.move the doll to the left" ] }, { "task_id": "0003388", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0003_scene_0002_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.moving to the right side of the table while holding a small block, B.put the silver marker into the silver pot, C.put the white ropes inside the blue box, D.cover the pot with the silver lid], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003388.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving to the right side of the table while holding a small block", "B.put the silver marker into the silver pot", "C.put the white ropes inside the blue box", "D.cover the pot with the silver lid" ] }, { "task_id": "0003390", "task": "TrajChoice", "id": "RH20T_cfg2_task_0056_user_0007_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the second drawer of the cabinet, B.receive something handed over by a human, C.pick up the marker from the desk and put it in the glass, D.transfer the object knife to the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003390.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the second drawer of the cabinet", "B.receive something handed over by a human", "C.pick up the marker from the desk and put it in the glass", "D.transfer the object knife to the table" ] }, { "task_id": "0003392", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.hit the pool ball, B.remove the small block from the stack, C.put the brown plushy in the open drawer, D.move the purple cup to the right] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003392.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the small block from the stack", "C.put the brown plushy in the open drawer", "D.move the purple cup to the right" ] }, { "task_id": "0003393", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the object in the bowl, B.pick up the pen from the desk and turn the dial of the rotary phone, C.stacking blocks (small Lego) randomly one at a time, D.place the chess piece on the right side of the chessboard], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003393.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object in the bowl", "B.pick up the pen from the desk and turn the dial of the rotary phone", "C.stacking blocks (small Lego) randomly one at a time", "D.place the chess piece on the right side of the chessboard" ] }, { "task_id": "0003394", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the block in the middle area of the desktop and move it to the far left area of the desktop, B.remove the gray hat from the basket and put it on the table, C.turn the knob to increase the volume of the speaker, D.pick up the cup and move it to above the middle of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003394.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the block in the middle area of the desktop and move it to the far left area of the desktop", "B.remove the gray hat from the basket and put it on the table", "C.turn the knob to increase the volume of the speaker", "D.pick up the cup and move it to above the middle of the table" ] }, { "task_id": "0003395", "task": "TrajChoice", "id": "RH20T_cfg3_task_0005_user_0016_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the towel on the tray on the table, B.put the white plate into the white box, C.pour the contents in the wine glass into the bowl, D.push the small block] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003395.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the tray on the table", "B.put the white plate into the white box", "C.pour the contents in the wine glass into the bowl", "D.push the small block" ] }, { "task_id": "0003396", "task": "TrajChoice", "id": "RH20T_cfg6_task_0029_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the chess pieces from the table to the board, B.put the cloth on the wooden board, then remove the cloth and put it on the table, C.grasp the handle and open the drawer, D.grab the building blocks from the silver plate on the right and place the building blocks on the table on the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003396.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the chess pieces from the table to the board", "B.put the cloth on the wooden board, then remove the cloth and put it on the table", "C.grasp the handle and open the drawer", "D.grab the building blocks from the silver plate on the right and place the building blocks on the table on the left" ] }, { "task_id": "0003397", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pull the black cloth from behind the table to the front, B.pick up the orange plush toy from the basket and put it on the counter, C.turn the faucet to the left, D.pour the water from one cup into another empty cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003397.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the black cloth from behind the table to the front", "B.pick up the orange plush toy from the basket and put it on the counter", "C.turn the faucet to the left", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0003398", "task": "TrajChoice", "id": "RH20T_cfg5_task_0092_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.lay the napkin flat on the table, B.move the bucket on the sofa to the right, C.turn the hands of a clock, D.pull the curtain], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003398.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.lay the napkin flat on the table", "B.move the bucket on the sofa to the right", "C.turn the hands of a clock", "D.pull the curtain" ] }, { "task_id": "0003399", "task": "TrajChoice", "id": "RH20T_cfg4_task_0045_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the bag on the cabinet, B.place the brush on the pen rack, C.pick up the lid and place it on the pot, D.fold the towel], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003399.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bag on the cabinet", "B.place the brush on the pen rack", "C.pick up the lid and place it on the pot", "D.fold the towel" ] }, { "task_id": "0003400", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0008_cfg_0002_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn the knob to decrease the volume of the speaker, B.close the open drawer of the file cabinet, C.move the pot to the left, D.organize the cloth on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003400.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.close the open drawer of the file cabinet", "C.move the pot to the left", "D.organize the cloth on the table" ] }, { "task_id": "0003401", "task": "TrajChoice", "id": "RH20T_cfg5_task_0045_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the book from the sofa to the pillow, B.pick up the jug and pour some of its contents into the bowl, C.pick up the paper and move it to the right, D.place the brush on the pen rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003401.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the book from the sofa to the pillow", "B.pick up the jug and pour some of its contents into the bowl", "C.pick up the paper and move it to the right", "D.place the brush on the pen rack" ] }, { "task_id": "0003402", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.moving the black object from the bowl to the table, B.finish setting up the starting position of a chessboard that is almost arranged, C.move the pot lid from the towel and place it on the pot, D.transfer the Hanoi block from the stand to the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003402.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the black object from the bowl to the table", "B.finish setting up the starting position of a chessboard that is almost arranged", "C.move the pot lid from the towel and place it on the pot", "D.transfer the Hanoi block from the stand to the table" ] }, { "task_id": "0003403", "task": "TrajChoice", "id": "RH20T_cfg4_task_0123_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the bowl to the right side of the countertop, B.put the knife on the knife rack, C.hold a small block with the gripper and sweep it from left to right on the table, D.move the pencil to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003403.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the right side of the countertop", "B.put the knife on the knife rack", "C.hold a small block with the gripper and sweep it from left to right on the table", "D.move the pencil to the left" ] }, { "task_id": "0003404", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.make the bottle stand upright, B.pick the yellow object and put it in the bowl, C.push the box, D.pick up the rod and stir in the silver cup] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003404.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.make the bottle stand upright", "B.pick the yellow object and put it in the bowl", "C.push the box", "D.pick up the rod and stir in the silver cup" ] }, { "task_id": "0003405", "task": "TrajChoice", "id": "RH20T_cfg2_task_0052_user_0016_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put 6 cubes next to the 4 cubes, B.pick up the plush toy in the bowl, C.push the block slightly to the right, D.grab a basketball, release it and shoot it into the basket] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003405.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put 6 cubes next to the 4 cubes", "B.pick up the plush toy in the bowl", "C.push the block slightly to the right", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0003406", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0014_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the spoon into the green cup, B.open a box, C.push the curtain on the right backwards, D.pick up the vial and put it in the transparent bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003406.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon into the green cup", "B.open a box", "C.push the curtain on the right backwards", "D.pick up the vial and put it in the transparent bowl" ] }, { "task_id": "0003407", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.drag the plate to the goal post after holding it down, B.slide the curtain, C.remove an egg from the carton box, D.move the canister from the transparent box to the countertop] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003407.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.slide the curtain", "C.remove an egg from the carton box", "D.move the canister from the transparent box to the countertop" ] }, { "task_id": "0003408", "task": "TrajChoice", "id": "RH20T_cfg5_task_0028_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the cup to the right on the table, B.grasp the moving object, C.close the drawer, D.move the object into the sink], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003408.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup to the right on the table", "B.grasp the moving object", "C.close the drawer", "D.move the object into the sink" ] }, { "task_id": "0003409", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the black coat from the table and hang it on the chair, B.move the stapler to the right of the counter, C.move the orange marker to the right, D.assemble: attach the bubble ring to the ball] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003409.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the black coat from the table and hang it on the chair", "B.move the stapler to the right of the counter", "C.move the orange marker to the right", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003410", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0014_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the flyswatter on the black dot, B.drag the plate to the goal post after holding it down, C.pick up a bag of things, D.put the pen on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003410.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the flyswatter on the black dot", "B.drag the plate to the goal post after holding it down", "C.pick up a bag of things", "D.put the pen on the table" ] }, { "task_id": "0003411", "task": "TrajChoice", "id": "RH20T_cfg5_task_0061_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the snack pack in the cabinet, B.move the spoon to the right side of the table, C.take the marker out of the mug and put it on the table, D.take everything out of the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003411.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the snack pack in the cabinet", "B.move the spoon to the right side of the table", "C.take the marker out of the mug and put it on the table", "D.take everything out of the gift box" ] }, { "task_id": "0003412", "task": "TrajChoice", "id": "RH20T_cfg5_task_0061_user_0007_scene_0005_cfg_0005_104122063678#410", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button on the coffee machine, B.pour the objects in the black basket onto the table, C.move the block onto the block, D.take everything out of the gift box] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003412.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the coffee machine", "B.pour the objects in the black basket onto the table", "C.move the block onto the block", "D.take everything out of the gift box" ] }, { "task_id": "0003413", "task": "TrajChoice", "id": "RH20T_cfg5_task_0049_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the block into the basket, B.place the storage box on the table further away from the box, C.rotate the steering wheel 90 degrees counterclockwise, D.move the spoon from the left side of the table to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003413.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block into the basket", "B.place the storage box on the table further away from the box", "C.rotate the steering wheel 90 degrees counterclockwise", "D.move the spoon from the left side of the table to the right side of the table" ] }, { "task_id": "0003414", "task": "TrajChoice", "id": "RH20T_cfg4_task_0046_user_0014_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the stainless steel bowl on another stainless steel bowl, B.put the yellow screwdriver in the wooden container and afterwards put it with the other yellow tools, C.put the brown block in the blue basket, D.put the cup on the cup rack], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003414.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the stainless steel bowl on another stainless steel bowl", "B.put the yellow screwdriver in the wooden container and afterwards put it with the other yellow tools", "C.put the brown block in the blue basket", "D.put the cup on the cup rack" ] }, { "task_id": "0003415", "task": "TrajChoice", "id": "RH20T_cfg5_task_0122_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.push the open drawer closed, B.put the knife on the cutting board, C.scrub the table with a brush, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003415.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the open drawer closed", "B.put the knife on the cutting board", "C.scrub the table with a brush", "D.pull out a napkin" ] }, { "task_id": "0003416", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the gray object from the orange object, B.hit the pool ball, C.press a button on the black remote control, D.pick up the red wrapping paper from the bag and transfer it to the bed] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003416.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the gray object from the orange object", "B.hit the pool ball", "C.press a button on the black remote control", "D.pick up the red wrapping paper from the bag and transfer it to the bed" ] }, { "task_id": "0003418", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0018_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.press the button on the power strip, B.drop a coin into a piggy bank, C.put the pen on the bed, D.place the clear bottle on top of the container on the left side of the countertop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003418.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the power strip", "B.drop a coin into a piggy bank", "C.put the pen on the bed", "D.place the clear bottle on top of the container on the left side of the countertop" ] }, { "task_id": "0003419", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put all the dishes from the transparent bowl onto the table, B.put the tank top in the laundry bag, C.put the pen into the pen holder, D.take the light green spoon and the light green lid one by one from the table and put them on the shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003419.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put all the dishes from the transparent bowl onto the table", "B.put the tank top in the laundry bag", "C.put the pen into the pen holder", "D.take the light green spoon and the light green lid one by one from the table and put them on the shelf" ] }, { "task_id": "0003420", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0004_scene_0009_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pull out a napkin, B.pour the water from a cup into another empty cup, C.put the block onto the box's block, D.put the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003420.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.pour the water from a cup into another empty cup", "C.put the block onto the box's block", "D.put the lid on the pot" ] }, { "task_id": "0003421", "task": "TrajChoice", "id": "RH20T_cfg4_task_0012_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the napkin and place it on the booklet on the table, B.put the bottle on the flat surface, C.lay the blue jeans out on the bed, D.push the soccer ball into the goal] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003421.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the napkin and place it on the booklet on the table", "B.put the bottle on the flat surface", "C.lay the blue jeans out on the bed", "D.push the soccer ball into the goal" ] }, { "task_id": "0003422", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.adjust the volume of the speaker by turning the knob, B.pick a white bottle from the table and place it on the tray, C.remove the object from the scale, D.building with small Lego blocks], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003422.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.adjust the volume of the speaker by turning the knob", "B.pick a white bottle from the table and place it on the tray", "C.remove the object from the scale", "D.building with small Lego blocks" ] }, { "task_id": "0003424", "task": "TrajChoice", "id": "RH20T_cfg5_task_0120_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.folding a towel on the table, B.put the packaging bag in the bowl, C.installing the light bulb by rotating it, D.rotate the knob on the speaker clockwise] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003424.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding a towel on the table", "B.put the packaging bag in the bowl", "C.installing the light bulb by rotating it", "D.rotate the knob on the speaker clockwise" ] }, { "task_id": "0003425", "task": "TrajChoice", "id": "RH20T_cfg1_task_0123_user_0010_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the cabinet door, B.pick up a small block, C.put the lid on the pot, D.put the knife on the knife rack] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003425.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cabinet door", "B.pick up a small block", "C.put the lid on the pot", "D.put the knife on the knife rack" ] }, { "task_id": "0003427", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the can to the left of the silver pot, B.remove the bubble ring from the assembled bubble ring and ball, C.place the green cup in the purple one, and then put them in the orange cup, D.open the bottom drawer of the beige file cabinet] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003427.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the can to the left of the silver pot", "B.remove the bubble ring from the assembled bubble ring and ball", "C.place the green cup in the purple one, and then put them in the orange cup", "D.open the bottom drawer of the beige file cabinet" ] }, { "task_id": "0003428", "task": "TrajChoice", "id": "RH20T_cfg6_task_0103_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the object on top of the microwave to the paper towel, B.move the black cloth from the chair back to the box, C.push the plate to the target position, D.spread the corner of the bed well], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003428.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object on top of the microwave to the paper towel", "B.move the black cloth from the chair back to the box", "C.push the plate to the target position", "D.spread the corner of the bed well" ] }, { "task_id": "0003430", "task": "TrajChoice", "id": "RH20T_cfg3_task_0044_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the extension cord switch, B.remove the marker from the cup and put it on the table, C.move an object from one box to another, D.pick up a bag of things and move it from the right side of the table to the left side of the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003430.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the extension cord switch", "B.remove the marker from the cup and put it on the table", "C.move an object from one box to another", "D.pick up a bag of things and move it from the right side of the table to the left side of the table" ] }, { "task_id": "0003431", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the object into the box, B.repeatedly picking up the pillow and then throwing it back, C.put the toilet paper on its holder, D.push the soccer ball into the goal], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003431.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the box", "B.repeatedly picking up the pillow and then throwing it back", "C.put the toilet paper on its holder", "D.push the soccer ball into the goal" ] }, { "task_id": "0003432", "task": "TrajChoice", "id": "RH20T_cfg6_task_0005_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.approach and touch the side of the small block, B.sharpen the pencil with a pencil sharpener, C.put the marker into the cup, D.move the bag from the pot onto the black object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003432.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch the side of the small block", "B.sharpen the pencil with a pencil sharpener", "C.put the marker into the cup", "D.move the bag from the pot onto the black object" ] }, { "task_id": "0003434", "task": "TrajChoice", "id": "RH20T_cfg4_task_0050_user_0014_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the oven, B.put the metal can into the cupboard, C.put the dish on the dish rack, D.pick up the object and put it on the right side of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003434.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the oven", "B.put the metal can into the cupboard", "C.put the dish on the dish rack", "D.pick up the object and put it on the right side of the table" ] }, { "task_id": "0003435", "task": "TrajChoice", "id": "RH20T_cfg5_task_0032_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.slide the lid onto the gift box, B.press the key on the keyboard, C.take the marker out of the cup and place it on the table, D.put the pen in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003435.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the lid onto the gift box", "B.press the key on the keyboard", "C.take the marker out of the cup and place it on the table", "D.put the pen in the cup" ] }, { "task_id": "0003436", "task": "TrajChoice", "id": "RH20T_cfg4_task_0329_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the glass cup onto the shelf, B.press the switch on the left side of the wall to turn on the light, C.push the space key on the keyboard, D.remove the plate from the dishwasher], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003436.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glass cup onto the shelf", "B.press the switch on the left side of the wall to turn on the light", "C.push the space key on the keyboard", "D.remove the plate from the dishwasher" ] }, { "task_id": "0003437", "task": "TrajChoice", "id": "RH20T_cfg1_task_0124_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push down the lever, B.waving the flag, C.hang up the white cloth on the stand, D.turn off the faucet, pick up the wooden spoon from the cup and put it on the wooden board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003437.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.waving the flag", "C.hang up the white cloth on the stand", "D.turn off the faucet, pick up the wooden spoon from the cup and put it on the wooden board" ] }, { "task_id": "0003438", "task": "TrajChoice", "id": "RH20T_cfg1_task_0083_user_0014_scene_0004_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the clear container to the left, B.a flyswatter, C.move the coffee pot, D.place the mug in the middle of the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003438.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the clear container to the left", "B.a flyswatter", "C.move the coffee pot", "D.place the mug in the middle of the table" ] }, { "task_id": "0003439", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the cover from the box, B.clean the tabletop with a sponge, C.close the bottom right cabinet door, D.put the cup in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003439.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the cover from the box", "B.clean the tabletop with a sponge", "C.close the bottom right cabinet door", "D.put the cup in the sink" ] }, { "task_id": "0003440", "task": "TrajChoice", "id": "RH20T_cfg2_task_0011_user_0013_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stack the cap on the bed, B.remove the lid from the black pot and put it on the white plate, C.water the plant, D.play the first move as black on the 3-4 point in the upper right corner of the Go board] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003440.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the cap on the bed", "B.remove the lid from the black pot and put it on the white plate", "C.water the plant", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0003441", "task": "TrajChoice", "id": "RH20T_cfg3_task_0008_user_0016_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the green plushie from the orange plate, B.close the bin, C.grab the block and place it at the designated location, D.take the tape off the wooden holder and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003441.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green plushie from the orange plate", "B.close the bin", "C.grab the block and place it at the designated location", "D.take the tape off the wooden holder and put it on the table" ] }, { "task_id": "0003442", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stacking blocks, B.the object is being pulled, C.close the bottom cabinet door, D.move the ball to the window sill] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003442.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks", "B.the object is being pulled", "C.close the bottom cabinet door", "D.move the ball to the window sill" ] }, { "task_id": "0003443", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0005_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.close the drawer, B.push the soccer ball into the goal, C.use the gripper to push and close the drawer, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003443.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.push the soccer ball into the goal", "C.use the gripper to push and close the drawer", "D.play the drum" ] }, { "task_id": "0003444", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0014_scene_0008_cfg_0004_036422060909#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.unscrew the lid from the jar, B.pick up the can from the sink and put it in the cabinet, C.move the towel from the right side to the left side, D.move the tube at the left to the right of the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003444.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unscrew the lid from the jar", "B.pick up the can from the sink and put it in the cabinet", "C.move the towel from the right side to the left side", "D.move the tube at the left to the right of the sink" ] }, { "task_id": "0003445", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the green block to the right of the orange block on the table, B.use the gripper to push and close the drawer, C.play the drum, D.put the white cloth on the seat of the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003445.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block to the right of the orange block on the table", "B.use the gripper to push and close the drawer", "C.play the drum", "D.put the white cloth on the seat of the chair" ] }, { "task_id": "0003446", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.wipe the table with a white cloth, B.pick up a bag of things, C.get the marker from the green cup and place it on the table, D.put the red towel on the tabletop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003446.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the table with a white cloth", "B.pick up a bag of things", "C.get the marker from the green cup and place it on the table", "D.put the red towel on the tabletop" ] }, { "task_id": "0003447", "task": "TrajChoice", "id": "RH20T_cfg7_task_0051_user_0020_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the sunglasses in the drawer, B.pour the contents of the bowl into the black bowl, C.drop a coin into a piggy bank, D.take the dish off the dish rack and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003447.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the sunglasses in the drawer", "B.pour the contents of the bowl into the black bowl", "C.drop a coin into a piggy bank", "D.take the dish off the dish rack and place it on the table" ] }, { "task_id": "0003448", "task": "TrajChoice", "id": "RH20T_cfg4_task_0081_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the cloth on the box into the plastic bag, B.put the orange ring on the wooden platform, C.unfold the leg of the glasses (with one hand), D.move the tap nozzle to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003448.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the cloth on the box into the plastic bag", "B.put the orange ring on the wooden platform", "C.unfold the leg of the glasses (with one hand)", "D.move the tap nozzle to the left" ] }, { "task_id": "0003449", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the object to the right, B.push down the lever, C.push the item to the right, D.turn the tap nozzle to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003449.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the right", "B.push down the lever", "C.push the item to the right", "D.turn the tap nozzle to the left" ] }, { "task_id": "0003450", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove a tissue from the tissue box, B.open the laptop, C.move the clothes rack to the right side of the shelf, D.take out a red Hanoi block from the shelf and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003450.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove a tissue from the tissue box", "B.open the laptop", "C.move the clothes rack to the right side of the shelf", "D.take out a red Hanoi block from the shelf and place it on the table" ] }, { "task_id": "0003451", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the door, B.turn the knob to increase the volume of the speaker, C.transfer the wooden block in the bowl to the green object, D.open the left drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003451.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the door", "B.turn the knob to increase the volume of the speaker", "C.transfer the wooden block in the bowl to the green object", "D.open the left drawer" ] }, { "task_id": "0003452", "task": "TrajChoice", "id": "RH20T_cfg2_task_0022_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the marker from the table and place it in the jar, B.push down the lever, C.move the green towel to the left, D.wave the flag], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003452.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker from the table and place it in the jar", "B.push down the lever", "C.move the green towel to the left", "D.wave the flag" ] }, { "task_id": "0003453", "task": "TrajChoice", "id": "RH20T_cfg4_task_0209_user_0010_scene_0002_cfg_0004_104422070011#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slice the carrots, B.move the item from the oven to the table, C.pull the cloth in, D.put the object into the pot in the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003453.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slice the carrots", "B.move the item from the oven to the table", "C.pull the cloth in", "D.put the object into the pot in the sink" ] }, { "task_id": "0003454", "task": "TrajChoice", "id": "RH20T_cfg2_task_0012_user_0006_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the soccer ball into the goal, B.pick up a piece of candy from the table and put it in the white cup, C.turn the knob to decrease the volume of the speaker, D.pull the green towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003454.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.pick up a piece of candy from the table and put it in the white cup", "C.turn the knob to decrease the volume of the speaker", "D.pull the green towel" ] }, { "task_id": "0003455", "task": "TrajChoice", "id": "RH20T_cfg6_task_0026_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the contents in the bowl on the left into the bowl on the right and place the bowl on the countertop, B.move the objects from the storage basket onto the counter, C.zip the clothing up to the top of the garment, D.use the gripper to push and close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003455.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents in the bowl on the left into the bowl on the right and place the bowl on the countertop", "B.move the objects from the storage basket onto the counter", "C.zip the clothing up to the top of the garment", "D.use the gripper to push and close the drawer" ] }, { "task_id": "0003456", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.take the cup off the cup rack, B.turn off the light, C.turn on the extension cord, D.fold the trousers on the couch], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003456.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.turn off the light", "C.turn on the extension cord", "D.fold the trousers on the couch" ] }, { "task_id": "0003457", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the cup off the cup rack, B.remove the bubble ring from the assembled bubble ring and ball, C.flip over and spread out the paper that is laid flat on the table, D.place the marker inside the red thermos on the left side of the desk] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003457.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.remove the bubble ring from the assembled bubble ring and ball", "C.flip over and spread out the paper that is laid flat on the table", "D.place the marker inside the red thermos on the left side of the desk" ] }, { "task_id": "0003458", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the white plate from the dishwasher and put it on the countertop, B.wave the flag, C.pick up a small block, D.clean the tabletop with a sponge], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003458.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white plate from the dishwasher and put it on the countertop", "B.wave the flag", "C.pick up a small block", "D.clean the tabletop with a sponge" ] }, { "task_id": "0003459", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pour the object in the cup into the bowl, B.remove the object from the scale, C.hang the black cloth on the object, D.put the object with the corresponding shape into the corresponding hole], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003459.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the object in the cup into the bowl", "B.remove the object from the scale", "C.hang the black cloth on the object", "D.put the object with the corresponding shape into the corresponding hole" ] }, { "task_id": "0003460", "task": "TrajChoice", "id": "RH20T_cfg6_task_0080_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the black basket on the table, B.flip over and spread out the paper that is laid flat on the table, C.move the object to the right side of the table, D.put the blue marker in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003460.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black basket on the table", "B.flip over and spread out the paper that is laid flat on the table", "C.move the object to the right side of the table", "D.put the blue marker in the bowl" ] }, { "task_id": "0003461", "task": "TrajChoice", "id": "RH20T_cfg5_task_0017_user_0010_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the lemon next to the cup, B.take out a Hanoi block and place it on the table, C.unfold the shirt, D.put the pen into the pen holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003461.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the lemon next to the cup", "B.take out a Hanoi block and place it on the table", "C.unfold the shirt", "D.put the pen into the pen holder" ] }, { "task_id": "0003462", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0016_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the toy on the right side of the original position, B.sliding a towel on the table, C.move the silver bowl to the left, D.pick up a red disk from the stick in the middle of the shelf and place it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003462.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy on the right side of the original position", "B.sliding a towel on the table", "C.move the silver bowl to the left", "D.pick up a red disk from the stick in the middle of the shelf and place it on the table" ] }, { "task_id": "0003463", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the yellow item to the left side, B.close the book, C.move the object to the left, D.grasp the handle and open the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003463.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the yellow item to the left side", "B.close the book", "C.move the object to the left", "D.grasp the handle and open the drawer" ] }, { "task_id": "0003464", "task": "TrajChoice", "id": "RH20T_cfg5_task_0101_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the red object from the table and put it in the box, B.pick up the red object and put it at the center of the table, C.press the button on the dishwasher, D.clean the table with a cloth], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003464.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the red object from the table and put it in the box", "B.pick up the red object and put it at the center of the table", "C.press the button on the dishwasher", "D.clean the table with a cloth" ] }, { "task_id": "0003465", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the ball on the box, B.put the cup in the black bin, C.pick up the green object on the counter and put it inside the cabinet, D.turn the knob to increase the volume of the speaker], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003465.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the ball on the box", "B.put the cup in the black bin", "C.pick up the green object on the counter and put it inside the cabinet", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0003466", "task": "TrajChoice", "id": "RH20T_cfg4_task_0026_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.wipe the top of the book with a tissue, B.take the pink plate from on top of the bowl and place it on the table, C.use the gripper to push and close the drawer, D.slide the towel to the right] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003466.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wipe the top of the book with a tissue", "B.take the pink plate from on top of the bowl and place it on the table", "C.use the gripper to push and close the drawer", "D.slide the towel to the right" ] }, { "task_id": "0003467", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the bowl, B.pick the plastic bag from the counter and put it inside the blue bag, C.pick up the clothes from the table and put them in the box, D.assemble: attach the bubble ring to the ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003467.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl", "B.pick the plastic bag from the counter and put it inside the blue bag", "C.pick up the clothes from the table and put them in the box", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003469", "task": "TrajChoice", "id": "RH20T_cfg7_task_0039_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the silver marker inside the silver pot, B.put the book on the kitchen counter, C.fully open the drawer, D.pour the water from one cup into another empty cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003469.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver marker inside the silver pot", "B.put the book on the kitchen counter", "C.fully open the drawer", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0003470", "task": "TrajChoice", "id": "RH20T_cfg1_task_0039_user_0016_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cable in a circle, B.pour the water from one cup into another empty cup, C.remove the red marker from the white mug, D.put the pen into the black cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003470.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cable in a circle", "B.pour the water from one cup into another empty cup", "C.remove the red marker from the white mug", "D.put the pen into the black cup" ] }, { "task_id": "0003471", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the block from the desk and place it on the scale, B.place the black pot in the box, C.put the marker inside the coffee cup, D.pick up the object from the counter to the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003471.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the block from the desk and place it on the scale", "B.place the black pot in the box", "C.put the marker inside the coffee cup", "D.pick up the object from the counter to the shelf" ] }, { "task_id": "0003472", "task": "TrajChoice", "id": "RH20T_cfg2_task_0085_user_0007_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn off the overhead light, B.remove the bubble ring from the assembled bubble ring and ball, C.transfer the snack bars and the black snack bars from the tray to the countertop in turn, D.stack the cups on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003472.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the overhead light", "B.remove the bubble ring from the assembled bubble ring and ball", "C.transfer the snack bars and the black snack bars from the tray to the countertop in turn", "D.stack the cups on the table" ] }, { "task_id": "0003473", "task": "TrajChoice", "id": "RH20T_cfg2_task_0206_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.chop the green garlic, B.take the marker out of the mug and place it on the table, C.remove the object from the teal cup then put it on the table, D.remove the marker from the bowl and place it on the left side of the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003473.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.chop the green garlic", "B.take the marker out of the mug and place it on the table", "C.remove the object from the teal cup then put it on the table", "D.remove the marker from the bowl and place it on the left side of the table" ] }, { "task_id": "0003474", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the object to the right, B.put the grape inside the dish, C.grasp the handle and close the drawer, D.place the small plate on the countertop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003474.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the right", "B.put the grape inside the dish", "C.grasp the handle and close the drawer", "D.place the small plate on the countertop" ] }, { "task_id": "0003475", "task": "TrajChoice", "id": "RH20T_cfg5_task_0201_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toy on the green block into the green bowl, B.open the microwave, C.transfer the medium pipette on the tabletop to the holder for medium pipette tips, D.slide the green towel up and down on the surface], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003475.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy on the green block into the green bowl", "B.open the microwave", "C.transfer the medium pipette on the tabletop to the holder for medium pipette tips", "D.slide the green towel up and down on the surface" ] }, { "task_id": "0003476", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the left door of the cabinet on the right, B.pull the roll of paper onto the counter, C.put the white packaging bag snack into the transparent bowl, D.move the bowl to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003476.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the left door of the cabinet on the right", "B.pull the roll of paper onto the counter", "C.put the white packaging bag snack into the transparent bowl", "D.move the bowl to the left" ] }, { "task_id": "0003477", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker in the cup, B.put the hat on the hook, C.put the toy in the bowl, D.take the photo frame down from the bracket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003477.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.put the hat on the hook", "C.put the toy in the bowl", "D.take the photo frame down from the bracket" ] }, { "task_id": "0003478", "task": "TrajChoice", "id": "RH20T_cfg3_task_0022_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the grey bowls together, B.move the tap to the left, C.take the pot on the towel to the stove, D.wave the flag] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003478.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the grey bowls together", "B.move the tap to the left", "C.take the pot on the towel to the stove", "D.wave the flag" ] }, { "task_id": "0003479", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0014_scene_0016_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the white cup to the right, B.scrubbing the table with a brush, C.open the tap, D.pick the white shirt on the hang and move it to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003479.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white cup to the right", "B.scrubbing the table with a brush", "C.open the tap", "D.pick the white shirt on the hang and move it to the right" ] }, { "task_id": "0003480", "task": "TrajChoice", "id": "RH20T_cfg6_task_0033_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pull out a napkin, B.move the cup towards me, C.grasping a block to sweep another block into the designated position, D.move the white mug to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003480.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull out a napkin", "B.move the cup towards me", "C.grasping a block to sweep another block into the designated position", "D.move the white mug to the right" ] }, { "task_id": "0003481", "task": "TrajChoice", "id": "RH20T_cfg2_task_0001_user_0006_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open the cabinet door, B.put the iron tool into the mug, C.press the button from top to bottom, D.put the marker in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003481.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cabinet door", "B.put the iron tool into the mug", "C.press the button from top to bottom", "D.put the marker in the mug" ] }, { "task_id": "0003482", "task": "TrajChoice", "id": "RH20T_cfg3_task_0028_user_0011_scene_0004_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the bubble ring in just the right position to fit around the soccer ball, B.stir the cup on the left side with a glass rod, C.open a sliding window, D.grasp the handle and close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003482.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bubble ring in just the right position to fit around the soccer ball", "B.stir the cup on the left side with a glass rod", "C.open a sliding window", "D.grasp the handle and close the drawer" ] }, { "task_id": "0003483", "task": "TrajChoice", "id": "RH20T_cfg6_task_0062_user_0014_scene_0007_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the toilet paper on the toilet paper holder, B.promote the white paper, C.approach and touch an object with an obstacle, D.move the stapler remover from the drawer to the counter top], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003483.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on the toilet paper holder", "B.promote the white paper", "C.approach and touch an object with an obstacle", "D.move the stapler remover from the drawer to the counter top" ] }, { "task_id": "0003484", "task": "TrajChoice", "id": "RH20T_cfg3_task_0042_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move a pair of shoes from the top shelf to the middle shelf, B.put the bottle on the table, C.move the purple plush toy to the right, D.screw the lid onto the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003484.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move a pair of shoes from the top shelf to the middle shelf", "B.put the bottle on the table", "C.move the purple plush toy to the right", "D.screw the lid onto the jar" ] }, { "task_id": "0003485", "task": "TrajChoice", "id": "RH20T_cfg2_task_0044_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the mug forward, B.shift the garment to the right then use the spoon to stir the contents of the bowl, C.move the bag containing items to the left, D.unscrew the lid from the jar], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003485.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug forward", "B.shift the garment to the right then use the spoon to stir the contents of the bowl", "C.move the bag containing items to the left", "D.unscrew the lid from the jar" ] }, { "task_id": "0003486", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the bowl to the left, B.flip the pillow and fluff it, C.hit the pool ball, D.pick up the rope and place it on the black workbench] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003486.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl to the left", "B.flip the pillow and fluff it", "C.hit the pool ball", "D.pick up the rope and place it on the black workbench" ] }, { "task_id": "0003488", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0017_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the object to the top of the bowl on the left side of the table, and then put it down, B.press the green button on the yellow base of the desk, C.use the white towel to wipe the pan, D.the medium pipette will be inserted into the holder for medium pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003488.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the top of the bowl on the left side of the table, and then put it down", "B.press the green button on the yellow base of the desk", "C.use the white towel to wipe the pan", "D.the medium pipette will be inserted into the holder for medium pipette tips" ] }, { "task_id": "0003489", "task": "TrajChoice", "id": "RH20T_cfg4_task_0108_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.sharpen the pencil with a pencil sharpener, B.put the fork and knife into the drawer, C.swat with a flyswatter, D.put the things in the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003489.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sharpen the pencil with a pencil sharpener", "B.put the fork and knife into the drawer", "C.swat with a flyswatter", "D.put the things in the drawer" ] }, { "task_id": "0003492", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the object on the shelf, B.move the ring toss from the left side of the table to the middle area of the table on top of the ring toss stand, then put it down, C.dragging an object in the box, D.simultaneously remove one cup from each stack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003492.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the shelf", "B.move the ring toss from the left side of the table to the middle area of the table on top of the ring toss stand, then put it down", "C.dragging an object in the box", "D.simultaneously remove one cup from each stack" ] }, { "task_id": "0003493", "task": "TrajChoice", "id": "RH20T_cfg4_task_0064_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the carrot plush toy from the stove and put it in the silver bowl in the sink, B.turn on the desk lamp by pressing the button, C.take the roll of paper down from the shelf and place it on the table, D.play the drum], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003493.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the carrot plush toy from the stove and put it in the silver bowl in the sink", "B.turn on the desk lamp by pressing the button", "C.take the roll of paper down from the shelf and place it on the table", "D.play the drum" ] }, { "task_id": "0003494", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.open the tap, B.clean the tabletop with a sponge, C.close the packaging box and push it to the left, D.pick up the small green object from the table and put it on top of the toy tower], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003494.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the tap", "B.clean the tabletop with a sponge", "C.close the packaging box and push it to the left", "D.pick up the small green object from the table and put it on top of the toy tower" ] }, { "task_id": "0003496", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.moving the plastic container from the shelf to the bowl, B.move the bottle to the right, C.grasp the moving object, D.drag the plate to the goal post after holding it down], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003496.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the plastic container from the shelf to the bowl", "B.move the bottle to the right", "C.grasp the moving object", "D.drag the plate to the goal post after holding it down" ] }, { "task_id": "0003498", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the block on the scale, B.flip over and spread out the paper that is laid flat on the table, C.place the lid on the shelf, D.place the blue box upright above the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003498.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.flip over and spread out the paper that is laid flat on the table", "C.place the lid on the shelf", "D.place the blue box upright above the table" ] }, { "task_id": "0003499", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the small block on the right and move it to the left, B.stack the cups on the table, C.put the spoon on the table, D.take the pen out of the maroon mug] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003499.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the small block on the right and move it to the left", "B.stack the cups on the table", "C.put the spoon on the table", "D.take the pen out of the maroon mug" ] }, { "task_id": "0003500", "task": "TrajChoice", "id": "RH20T_cfg6_task_0015_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.place the purple bottle on the right side of the counter, B.play the drum, C.grasp the handle and close the drawer, D.move the transparent box to the desktop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003500.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the purple bottle on the right side of the counter", "B.play the drum", "C.grasp the handle and close the drawer", "D.move the transparent box to the desktop" ] }, { "task_id": "0003501", "task": "TrajChoice", "id": "RH20T_cfg4_task_0096_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn the hands of a clock, B.transferring with a spoon from the left side position of the silver cup to the front position in the silver cup, C.pick the marker from the cup and put it on the table, D.take something out of a drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003501.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the hands of a clock", "B.transferring with a spoon from the left side position of the silver cup to the front position in the silver cup", "C.pick the marker from the cup and put it on the table", "D.take something out of a drawer" ] }, { "task_id": "0003502", "task": "TrajChoice", "id": "RH20T_cfg6_task_0011_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pick up a bag of things, B.put the Lego in the drawer and then close the drawer, C.put the jar on the table, D.water the plant], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003502.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a bag of things", "B.put the Lego in the drawer and then close the drawer", "C.put the jar on the table", "D.water the plant" ] }, { "task_id": "0003503", "task": "TrajChoice", "id": "RH20T_cfg4_task_0095_user_0014_scene_0004_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the photo frame down from the bracket, B.open the lid, C.pour the contents in the orange cup into the green bowl, D.open the oven door], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003503.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the photo frame down from the bracket", "B.open the lid", "C.pour the contents in the orange cup into the green bowl", "D.open the oven door" ] }, { "task_id": "0003504", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the knob to decrease the volume of the speaker, B.open a sliding window, C.swat with a flyswatter, D.turn on the light], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003504.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.open a sliding window", "C.swat with a flyswatter", "D.turn on the light" ] }, { "task_id": "0003505", "task": "TrajChoice", "id": "RH20T_cfg6_task_0064_user_0007_scene_0008_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.use the white napkin to wipe the white bowl, B.take the roll of paper down from the shelf, C.press the remote control button on the table, D.close the cabinet door], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003505.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the white napkin to wipe the white bowl", "B.take the roll of paper down from the shelf", "C.press the remote control button on the table", "D.close the cabinet door" ] }, { "task_id": "0003507", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0001_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn on the desk lamp by pressing the button, B.move the bowl up slightly, C.put the yellow object into the cup, D.put the cloth on the chair], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003507.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.move the bowl up slightly", "C.put the yellow object into the cup", "D.put the cloth on the chair" ] }, { "task_id": "0003508", "task": "TrajChoice", "id": "RH20T_cfg4_task_0063_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the packaging into the sink, B.put the object into the plate, C.use the towel to wipe the tabletop, D.use a shovel to scoop up an object] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003508.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the packaging into the sink", "B.put the object into the plate", "C.use the towel to wipe the tabletop", "D.use a shovel to scoop up an object" ] }, { "task_id": "0003509", "task": "TrajChoice", "id": "RH20T_cfg2_task_0059_user_0007_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick the orange object and put it in the bowl, B.turn the knob to increase the volume of the speaker, C.pick up the marker and place it in the cup, D.move the small clear bottle to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003509.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick the orange object and put it in the bowl", "B.turn the knob to increase the volume of the speaker", "C.pick up the marker and place it in the cup", "D.move the small clear bottle to the right" ] }, { "task_id": "0003510", "task": "TrajChoice", "id": "RH20T_cfg1_task_0007_user_0004_scene_0002_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.sweeping a small block with the gripper from left to right on the table, B.put the green jar from the bowl onto the countertop, C.take the marker from the pot and put it on the table, D.remove the lid from the bowl and pour all the candies into the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003510.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sweeping a small block with the gripper from left to right on the table", "B.put the green jar from the bowl onto the countertop", "C.take the marker from the pot and put it on the table", "D.remove the lid from the bowl and pour all the candies into the cup" ] }, { "task_id": "0003511", "task": "TrajChoice", "id": "RH20T_cfg3_task_0059_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the green toy and put it on top of the red and yellow toys, B.remove the wire from the transparent bag and place it on the table, C.move the cup to the right, D.grab the speaker], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003511.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the green toy and put it on top of the red and yellow toys", "B.remove the wire from the transparent bag and place it on the table", "C.move the cup to the right", "D.grab the speaker" ] }, { "task_id": "0003512", "task": "TrajChoice", "id": "RH20T_cfg2_task_0096_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.Transfer all large pipette tips from one holder to another holder for large pipette tips, B.take something out of a drawer, C.move the green plush toy from the sink to the pot, D.pull the curtain to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003512.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Transfer all large pipette tips from one holder to another holder for large pipette tips", "B.take something out of a drawer", "C.move the green plush toy from the sink to the pot", "D.pull the curtain to the left" ] }, { "task_id": "0003513", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up a square block from the desk, B.press the drinking fountain switch, C.pick up the spoon from the desktop and place it on the plate next to the spoon, D.put the straws on the table into the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003513.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a square block from the desk", "B.press the drinking fountain switch", "C.pick up the spoon from the desktop and place it on the plate next to the spoon", "D.put the straws on the table into the cup" ] }, { "task_id": "0003514", "task": "TrajChoice", "id": "RH20T_cfg4_task_0016_user_0016_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the lid from the pot and place it on the counter top, B.hit the pool ball, C.take something out of a drawer, D.the folding cloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003514.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the lid from the pot and place it on the counter top", "B.hit the pool ball", "C.take something out of a drawer", "D.the folding cloth" ] }, { "task_id": "0003515", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup on the cup rack, B.put the brown plate on top of the bowl, C.put the cloth on the wooden board, D.turn the water tap handle counterclockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003515.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the brown plate on top of the bowl", "C.put the cloth on the wooden board", "D.turn the water tap handle counterclockwise" ] }, { "task_id": "0003516", "task": "TrajChoice", "id": "RH20T_cfg1_task_0205_user_0014_scene_0002_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the grape plush from the stove and put it in the sink pot, B.fold the towel, C.chop the scallions, D.wipe the table with a towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003516.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the grape plush from the stove and put it in the sink pot", "B.fold the towel", "C.chop the scallions", "D.wipe the table with a towel" ] }, { "task_id": "0003517", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the small block backwards, B.close the microwave door, C.push down the lever, D.pick up the glue stick from the bowl and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003517.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small block backwards", "B.close the microwave door", "C.push down the lever", "D.pick up the glue stick from the bowl and put it on the table" ] }, { "task_id": "0003518", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker into the cup, B.push the lever of the toaster down, C.pick up the small block on the left and move it to the right, D.move the octopus plush toy and the tissue box to the right side of the desk] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003518.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker into the cup", "B.push the lever of the toaster down", "C.pick up the small block on the left and move it to the right", "D.move the octopus plush toy and the tissue box to the right side of the desk" ] }, { "task_id": "0003519", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the object from the left side of the table to the right side of the table, B.put the black tape on the left side of the table to the right side of the table, C.encircle the ball with the bubble ring, D.insert the pencil into the pencil sharpener], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003519.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object from the left side of the table to the right side of the table", "B.put the black tape on the left side of the table to the right side of the table", "C.encircle the ball with the bubble ring", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0003520", "task": "TrajChoice", "id": "RH20T_cfg6_task_0042_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the white bottle into the bag, B.put the carrot plush toy on the pan, C.screw the lid on (needs to be rotated), D.rotate the steering wheel clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003520.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white bottle into the bag", "B.put the carrot plush toy on the pan", "C.screw the lid on (needs to be rotated)", "D.rotate the steering wheel clockwise" ] }, { "task_id": "0003522", "task": "TrajChoice", "id": "RH20T_cfg7_task_0020_user_0014_scene_0004_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the object into the bowl, B.put the green plush ball in the sink, C.shake the small flag, D.pour the contents of the kettle into the red bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003522.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.put the green plush ball in the sink", "C.shake the small flag", "D.pour the contents of the kettle into the red bowl" ] }, { "task_id": "0003523", "task": "TrajChoice", "id": "RH20T_cfg4_task_0126_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.plug in the power cord to the socket, B.put the blue cup inside the orange cup, C.move the toy car to the left and put the remote on the stand, D.open the silver bin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003523.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the power cord to the socket", "B.put the blue cup inside the orange cup", "C.move the toy car to the left and put the remote on the stand", "D.open the silver bin" ] }, { "task_id": "0003524", "task": "TrajChoice", "id": "RH20T_cfg7_task_0038_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the blue cube inside the cube-shaped wooden object, B.take the kitchen sponge out of the drawer and put it on the side of the sink, C.pick up the cup, D.put the block in the bowl] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003524.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue cube inside the cube-shaped wooden object", "B.take the kitchen sponge out of the drawer and put it on the side of the sink", "C.pick up the cup", "D.put the block in the bowl" ] }, { "task_id": "0003525", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0007_scene_0011_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the blue object into the drawer then close the drawer, B.clean the stains on the table with a cloth, C.push the box to the left, D.place the object on the shelf] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003525.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object into the drawer then close the drawer", "B.clean the stains on the table with a cloth", "C.push the box to the left", "D.place the object on the shelf" ] }, { "task_id": "0003526", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0002_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.push the soccer ball into the goal, B.pick up the blue cloth and put it on the chair, C.move the fork from above one cup to above another cup, D.put the cloth on the desk], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003526.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.pick up the blue cloth and put it on the chair", "C.move the fork from above one cup to above another cup", "D.put the cloth on the desk" ] }, { "task_id": "0003527", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stack the tissue rolls together, B.drag the plate to the goal post after holding it down, C.put the spoon on the table, D.put the orange cube on the yellow block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003527.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the tissue rolls together", "B.drag the plate to the goal post after holding it down", "C.put the spoon on the table", "D.put the orange cube on the yellow block" ] }, { "task_id": "0003528", "task": "TrajChoice", "id": "RH20T_cfg1_task_0009_user_0001_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the key on the keyboard, B.take out a Hanoi block and throw it aside, C.put the green square on the blue square, D.remove the lid from the blue pot and place it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003528.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the key on the keyboard", "B.take out a Hanoi block and throw it aside", "C.put the green square on the blue square", "D.remove the lid from the blue pot and place it on the table" ] }, { "task_id": "0003529", "task": "TrajChoice", "id": "RH20T_cfg3_task_0031_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the lid from the black pot to the table, B.use the spoon to stir the pot, C.fold the cardboard box on the table to the closed state, D.open the top cupboard doors], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003529.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the lid from the black pot to the table", "B.use the spoon to stir the pot", "C.fold the cardboard box on the table to the closed state", "D.open the top cupboard doors" ] }, { "task_id": "0003530", "task": "TrajChoice", "id": "RH20T_cfg5_task_0078_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn on the power strip by pressing the button, B.close the microwave door, C.put the orange item in the box, D.pick up the pen and put it in the mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003530.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the button", "B.close the microwave door", "C.put the orange item in the box", "D.pick up the pen and put it in the mug" ] }, { "task_id": "0003531", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.pour the water from one cup into another empty cup, B.put the pen inside the mug, C.push the right faucet handle backwards, take the red cup out of the sink, D.moving the black bowl forward on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003531.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.put the pen inside the mug", "C.push the right faucet handle backwards, take the red cup out of the sink", "D.moving the black bowl forward on the table" ] }, { "task_id": "0003532", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.transfer the bowl from the stove to the plate, B.plug in the power cord to the socket, C.scrub the jar, D.move the can to the sink] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003532.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the bowl from the stove to the plate", "B.plug in the power cord to the socket", "C.scrub the jar", "D.move the can to the sink" ] }, { "task_id": "0003533", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn off the water tap, B.close the lid of the box, C.put the item into the bowl, D.push the shower curtain to the left] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003533.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.close the lid of the box", "C.put the item into the bowl", "D.push the shower curtain to the left" ] }, { "task_id": "0003534", "task": "TrajChoice", "id": "RH20T_cfg5_task_0049_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the fork on the table, B.rotate the steering wheel counterclockwise, C.dialing a number on an old rotary phone, D.put the cup in the sink] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003534.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the fork on the table", "B.rotate the steering wheel counterclockwise", "C.dialing a number on an old rotary phone", "D.put the cup in the sink" ] }, { "task_id": "0003535", "task": "TrajChoice", "id": "RH20T_cfg7_task_0075_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the bubble ring from the assembled bubble ring and ball, B.finish setting up the starting position of the chessboard that is almost arranged, C.move the green mug towards you, D.remove the rope from the black object and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003535.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.finish setting up the starting position of the chessboard that is almost arranged", "C.move the green mug towards you", "D.remove the rope from the black object and put it on the table" ] }, { "task_id": "0003536", "task": "TrajChoice", "id": "RH20T_cfg6_task_0045_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.place the brush on the pen rack, B.move the bowl to the right, C.remove the marker out of the cup and put it on the left side of the table, D.dump the contents of the trash can onto the bed], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003536.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the brush on the pen rack", "B.move the bowl to the right", "C.remove the marker out of the cup and put it on the left side of the table", "D.dump the contents of the trash can onto the bed" ] }, { "task_id": "0003537", "task": "TrajChoice", "id": "RH20T_cfg6_task_0059_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the grey shirt from the backrest of the black chair then place it on the right side of the sofa, B.take the pen out of the mug and put it on the cabinet, C.use the cloth to wipe, D.turn the knob to increase the volume of the speaker], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003537.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the grey shirt from the backrest of the black chair then place it on the right side of the sofa", "B.take the pen out of the mug and put it on the cabinet", "C.use the cloth to wipe", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0003538", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move an object from one box to another, B.place the small block on the left desk, C.slide the plate into the goal, D.put the toilet paper on its holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003538.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move an object from one box to another", "B.place the small block on the left desk", "C.slide the plate into the goal", "D.put the toilet paper on its holder" ] }, { "task_id": "0003539", "task": "TrajChoice", "id": "RH20T_cfg5_task_0123_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the knife on the knife rack, B.operating the objects on the table, C.open the drawer, pick up the green stuffed animal and put it on the table, D.put the tissue into the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003539.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the knife on the knife rack", "B.operating the objects on the table", "C.open the drawer, pick up the green stuffed animal and put it on the table", "D.put the tissue into the box" ] }, { "task_id": "0003540", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0011_scene_0003_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the teabag in the mug, B.put the rubber band around the cup, C.slide the outer casing onto the gift box, D.close the tap] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003540.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the teabag in the mug", "B.put the rubber band around the cup", "C.slide the outer casing onto the gift box", "D.close the tap" ] }, { "task_id": "0003541", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the water from one cup into another empty cup, B.open the bottom drawer of the file cabinet on the right, C.put the figurines on the desk and in the bowl into the black bowl, D.push down on the slider on the toaster] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003541.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.open the bottom drawer of the file cabinet on the right", "C.put the figurines on the desk and in the bowl into the black bowl", "D.push down on the slider on the toaster" ] }, { "task_id": "0003543", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.take the pencil out from the pencil sharpener, B.move the can to the pallet, C.push the bowl to the back of the table, D.remove the object from the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003543.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.move the can to the pallet", "C.push the bowl to the back of the table", "D.remove the object from the scale" ] }, { "task_id": "0003544", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the small pot's lid and put it on the stove, B.turn on the fourth switch from the left, C.slide the outer casing onto the gift box, D.turn on the light], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003544.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the small pot's lid and put it on the stove", "B.turn on the fourth switch from the left", "C.slide the outer casing onto the gift box", "D.turn on the light" ] }, { "task_id": "0003545", "task": "TrajChoice", "id": "RH20T_cfg6_task_0081_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.holding a small block with the gripper and sweeping it from left to right on the table, B.unfold the leg of the glasses (with one hand), C.bring the clear bottle closer to the coffee maker, D.pick up the marker from the cup and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003545.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.holding a small block with the gripper and sweeping it from left to right on the table", "B.unfold the leg of the glasses (with one hand)", "C.bring the clear bottle closer to the coffee maker", "D.pick up the marker from the cup and put it on the table" ] }, { "task_id": "0003546", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0010_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the spoon to the table, B.clean the tabletop with a sponge, C.throw the pillow into the white box, D.put the throw pillow on the back of the sofa] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003546.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the spoon to the table", "B.clean the tabletop with a sponge", "C.throw the pillow into the white box", "D.put the throw pillow on the back of the sofa" ] }, { "task_id": "0003547", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the object on the shelf, B.hit the pool ball, C.put the green bottle in the bag, D.close the bottom drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003547.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object on the shelf", "B.hit the pool ball", "C.put the green bottle in the bag", "D.close the bottom drawer" ] }, { "task_id": "0003548", "task": "TrajChoice", "id": "RH20T_cfg3_task_0038_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the cup, B.put the lid on the stove, C.remove the bottle out of the sink, D.remove the bubble ring from the assembled bubble ring and ball] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003548.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.put the lid on the stove", "C.remove the bottle out of the sink", "D.remove the bubble ring from the assembled bubble ring and ball" ] }, { "task_id": "0003549", "task": "TrajChoice", "id": "RH20T_cfg4_task_0024_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the black pen out of the white mug, B.turn off the power strip by pressing the button, C.transfer the snack from the sink to the counter, D.pour the water from one cup into another empty cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003549.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the black pen out of the white mug", "B.turn off the power strip by pressing the button", "C.transfer the snack from the sink to the counter", "D.pour the water from one cup into another empty cup" ] }, { "task_id": "0003550", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0006_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.turn on the desk lamp by pressing the button, C.pick up the bottle and pull the shower curtain to the left, D.remove the glass lid from the black pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003550.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.turn on the desk lamp by pressing the button", "C.pick up the bottle and pull the shower curtain to the left", "D.remove the glass lid from the black pot" ] }, { "task_id": "0003551", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0014_scene_0002_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.stack the brown bowl on top of the black one, B.place the handset of the telephone on the corresponding phone cradle, C.put the block on the tower, D.put the lid on the table on top of the plastic box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003551.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the brown bowl on top of the black one", "B.place the handset of the telephone on the corresponding phone cradle", "C.put the block on the tower", "D.put the lid on the table on top of the plastic box" ] }, { "task_id": "0003553", "task": "TrajChoice", "id": "RH20T_cfg6_task_0039_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pour the water from one cup into another empty cup, B.put the k-cup onto the holder, C.close the cabinet door, D.installing the light bulb by rotating it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003553.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the water from one cup into another empty cup", "B.put the k-cup onto the holder", "C.close the cabinet door", "D.installing the light bulb by rotating it" ] }, { "task_id": "0003554", "task": "TrajChoice", "id": "RH20T_cfg2_task_0046_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the cup on the cup rack, B.put the object into the bowl, C.transfer the lid from the transparent container to the countertop, D.turn off the middle switch] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003554.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the object into the bowl", "C.transfer the lid from the transparent container to the countertop", "D.turn off the middle switch" ] }, { "task_id": "0003555", "task": "TrajChoice", "id": "RH20T_cfg1_task_0002_user_0001_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the fabric on the bed, B.put the pillow in the middle of the bed, C.play the drum, D.pull out a napkin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003555.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the fabric on the bed", "B.put the pillow in the middle of the bed", "C.play the drum", "D.pull out a napkin" ] }, { "task_id": "0003556", "task": "TrajChoice", "id": "RH20T_cfg6_task_0035_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up a small block, B.use the towel to wipe on the pan, C.open the cabinet door, D.close the left top drawer] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003556.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up a small block", "B.use the towel to wipe on the pan", "C.open the cabinet door", "D.close the left top drawer" ] }, { "task_id": "0003557", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0010_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the block on the scale, B.move the green bottle to the left, C.pick up the yellow object and put it inside the white basin, D.move the knife from the cloth to the knife rack] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003557.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.move the green bottle to the left", "C.pick up the yellow object and put it inside the white basin", "D.move the knife from the cloth to the knife rack" ] }, { "task_id": "0003558", "task": "TrajChoice", "id": "RH20T_cfg5_task_0042_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the extension cable, B.screw the lid onto the jar, C.pick up the pee plush toy from the pot and drop it in the sink, D.open the machine cover] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003558.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the extension cable", "B.screw the lid onto the jar", "C.pick up the pee plush toy from the pot and drop it in the sink", "D.open the machine cover" ] }, { "task_id": "0003559", "task": "TrajChoice", "id": "RH20T_cfg4_task_0106_user_0007_scene_0013_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the black and white boxes into the white box, B.put the black masking tape on the cream plate, C.take the object down from the shelf, D.moving the white object from the tabletop to the wall], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003559.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the black and white boxes into the white box", "B.put the black masking tape on the cream plate", "C.take the object down from the shelf", "D.moving the white object from the tabletop to the wall" ] }, { "task_id": "0003560", "task": "TrajChoice", "id": "RH20T_cfg3_task_0017_user_0011_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn the knob to decrease the volume of the speaker, B.place the green cup in the middle of the table, C.put the pen into the pen holder, D.take the bottle from the desk and place it behind its original position], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003560.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to decrease the volume of the speaker", "B.place the green cup in the middle of the table", "C.put the pen into the pen holder", "D.take the bottle from the desk and place it behind its original position" ] }, { "task_id": "0003561", "task": "TrajChoice", "id": "RH20T_cfg6_task_0105_user_0020_scene_0005_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the door of the oven, B.remove one blue sachet from the basket and place it on the countertop, C.put the object on the shelf, D.close the sliding lid on the travel mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003561.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the door of the oven", "B.remove one blue sachet from the basket and place it on the countertop", "C.put the object on the shelf", "D.close the sliding lid on the travel mug" ] }, { "task_id": "0003562", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn on the first switch from the left, B.move the white object to the left, C.plug in the bulb holder to the socket, D.chop the scallions] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003562.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the first switch from the left", "B.move the white object to the left", "C.plug in the bulb holder to the socket", "D.chop the scallions" ] }, { "task_id": "0003563", "task": "TrajChoice", "id": "RH20T_cfg3_task_0075_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the object from the plate to the table, B.place the notebook flat, C.finish setting up the starting position of the chessboard that is almost arranged, D.throw the marker from the bowl onto the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003563.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the object from the plate to the table", "B.place the notebook flat", "C.finish setting up the starting position of the chessboard that is almost arranged", "D.throw the marker from the bowl onto the table" ] }, { "task_id": "0003564", "task": "TrajChoice", "id": "RH20T_cfg1_task_0107_user_0010_scene_0002_cfg_0001_819112070044#338", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the garbage in the trash can, B.push the small block from right to left, C.turn on the switch on the socket, open the box, D.put the yellow object in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003564.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the garbage in the trash can", "B.push the small block from right to left", "C.turn on the switch on the socket, open the box", "D.put the yellow object in the bowl" ] }, { "task_id": "0003565", "task": "TrajChoice", "id": "RH20T_cfg6_task_0092_user_0020_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the block on the scale, B.uncover the cooker and put the lid on the counter, C.stack the block to the left on top of the other blocks, D.turn the hands of a clock] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003565.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.uncover the cooker and put the lid on the counter", "C.stack the block to the left on top of the other blocks", "D.turn the hands of a clock" ] }, { "task_id": "0003566", "task": "TrajChoice", "id": "RH20T_cfg2_task_0008_user_0013_scene_0010_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the small tongs to the right, B.put the yellow block in the blue cup, C.insert two small cups into the rack, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003566.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the small tongs to the right", "B.put the yellow block in the blue cup", "C.insert two small cups into the rack", "D.grab the block and place it at the designated location" ] }, { "task_id": "0003568", "task": "TrajChoice", "id": "RH20T_cfg4_task_0089_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the cola can on the left side of the first shelf, B.flick up the light switch, C.place the pot lid on the table, D.push an object with obstacles], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003568.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cola can on the left side of the first shelf", "B.flick up the light switch", "C.place the pot lid on the table", "D.push an object with obstacles" ] }, { "task_id": "0003569", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0020_scene_0001_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the orange cup in the black bowl, B.take the roll of paper down from the shelf, C.pick up the pen from the left side of the desk and move it to the right side of the desk, D.remove the marker from the mug cup and place it on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003569.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange cup in the black bowl", "B.take the roll of paper down from the shelf", "C.pick up the pen from the left side of the desk and move it to the right side of the desk", "D.remove the marker from the mug cup and place it on the table" ] }, { "task_id": "0003570", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.play jenga, B.place the handset of the telephone on the corresponding phone cradle, C.place the silver lid on the silver pan, D.put the plush toy in the open drawer, then close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003570.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.play jenga", "B.place the handset of the telephone on the corresponding phone cradle", "C.place the silver lid on the silver pan", "D.put the plush toy in the open drawer, then close the drawer" ] }, { "task_id": "0003571", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the bucket, B.drag the plate to the goal post, C.insert the pencil into the pencil sharpener, D.open the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003571.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bucket", "B.drag the plate to the goal post", "C.insert the pencil into the pencil sharpener", "D.open the drawer" ] }, { "task_id": "0003572", "task": "TrajChoice", "id": "RH20T_cfg6_task_0079_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the bubble ring from the assembled bubble ring and ball, B.wipe the countertop with the black cloth, C.open the microwave door, D.turn off the power strip by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003572.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.wipe the countertop with the black cloth", "C.open the microwave door", "D.turn off the power strip by pressing the button" ] }, { "task_id": "0003573", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0004_scene_0010_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.turn on the desk lamp by pressing the button, C.place the ball in the middle of the table to the edge of the table, D.put a white bottle in a transparent box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003573.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.turn on the desk lamp by pressing the button", "C.place the ball in the middle of the table to the edge of the table", "D.put a white bottle in a transparent box" ] }, { "task_id": "0003574", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the light stove, B.open a sliding window, C.open the bottom left drawer of the cabinet, D.move the clap from the table to the specified position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003574.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the light stove", "B.open a sliding window", "C.open the bottom left drawer of the cabinet", "D.move the clap from the table to the specified position" ] }, { "task_id": "0003576", "task": "TrajChoice", "id": "RH20T_cfg1_task_0073_user_0010_scene_0002_cfg_0001_819112070044#161", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the storage box on the right side of the table, B.put things in the drawer, C.put the knife on the cutting board, D.put the white paper in the trash bin], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003576.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the storage box on the right side of the table", "B.put things in the drawer", "C.put the knife on the cutting board", "D.put the white paper in the trash bin" ] }, { "task_id": "0003577", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take a tissue from the tissue box, use it to wipe the artificial intelligence book and place the tissue north of the book, B.put the black shirt on the white shirt, C.push the soccer ball into the goal, D.close the upper drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003577.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take a tissue from the tissue box, use it to wipe the artificial intelligence book and place the tissue north of the book", "B.put the black shirt on the white shirt", "C.push the soccer ball into the goal", "D.close the upper drawer" ] }, { "task_id": "0003578", "task": "TrajChoice", "id": "RH20T_cfg7_task_0025_user_0014_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.slide the closet door slightly to the right, B.place the bowl on the bowl rack, C.pick up the lid from the table and put it on the pot, D.unfold a piece of paper that has been folded once (with a weight pressing down on one end)] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003578.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the closet door slightly to the right", "B.place the bowl on the bowl rack", "C.pick up the lid from the table and put it on the pot", "D.unfold a piece of paper that has been folded once (with a weight pressing down on one end)" ] }, { "task_id": "0003579", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.hit the pool ball, B.remove the marker from the bowl, C.open a box, D.put the red cup in the topmost compartment], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003579.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.hit the pool ball", "B.remove the marker from the bowl", "C.open a box", "D.put the red cup in the topmost compartment" ] }, { "task_id": "0003580", "task": "TrajChoice", "id": "RH20T_cfg2_task_0016_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the pen out of the glass and set it on the table, B.put an orange circle on the table, C.hit the pool ball, D.pick up the small block on the left and move it to the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003580.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen out of the glass and set it on the table", "B.put an orange circle on the table", "C.hit the pool ball", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0003581", "task": "TrajChoice", "id": "RH20T_cfg4_task_0022_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.wave the flag, B.plug in the bulb holder to the socket, C.holding the block and moving backward, D.close the flat drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003581.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.wave the flag", "B.plug in the bulb holder to the socket", "C.holding the block and moving backward", "D.close the flat drawer" ] }, { "task_id": "0003582", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the book from the desk and place it beside the shoes, B.put a transparent pump bottle on the sink, C.pour the contents of the orange container into the spoon, and then pour the contents from the spoon into the box, D.turn on the desk lamp by pressing the button] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003582.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the book from the desk and place it beside the shoes", "B.put a transparent pump bottle on the sink", "C.pour the contents of the orange container into the spoon, and then pour the contents from the spoon into the box", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0003583", "task": "TrajChoice", "id": "RH20T_cfg1_task_0020_user_0012_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn the knob on the speaker clockwise, B.pick up the marker from the table and put it in the cup, C.turn on the desk lamp by pressing the button, D.remove the object from the sink], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003583.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob on the speaker clockwise", "B.pick up the marker from the table and put it in the cup", "C.turn on the desk lamp by pressing the button", "D.remove the object from the sink" ] }, { "task_id": "0003584", "task": "TrajChoice", "id": "RH20T_cfg5_task_0008_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the block at the paper circle, B.put the helmet on the right armrest, C.transfer the white cup from the table to the back side of the desktop, D.put the clip on the lid of the pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003584.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block at the paper circle", "B.put the helmet on the right armrest", "C.transfer the white cup from the table to the back side of the desktop", "D.put the clip on the lid of the pot" ] }, { "task_id": "0003585", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the water tap, B.move the marker from the cup to the desk, C.put the cup on the table, D.take something out of a drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003585.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the water tap", "B.move the marker from the cup to the desk", "C.put the cup on the table", "D.take something out of a drawer" ] }, { "task_id": "0003586", "task": "TrajChoice", "id": "RH20T_cfg1_task_0006_user_0004_scene_0007_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.the contents of the pouring container, B.use the gripper to push the small block from left to right, C.remove the black pen from the white mug, D.put the object into the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003586.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the contents of the pouring container", "B.use the gripper to push the small block from left to right", "C.remove the black pen from the white mug", "D.put the object into the green bowl" ] }, { "task_id": "0003587", "task": "TrajChoice", "id": "RH20T_cfg6_task_0052_user_0014_scene_0001_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the first switch on the extension cord, B.grab a basketball, release it and shoot it into the basket, C.slice the carrots, D.take the pen out of the bowl, put it on the table then put it back in the bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003587.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the first switch on the extension cord", "B.grab a basketball, release it and shoot it into the basket", "C.slice the carrots", "D.take the pen out of the bowl, put it on the table then put it back in the bowl" ] }, { "task_id": "0003588", "task": "TrajChoice", "id": "RH20T_cfg7_task_0064_user_0014_scene_0007_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the green block in the bowl, B.open the pot lid, C.turn the top knob of the microwave, D.take the roll of paper down from the shelf] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003588.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the green block in the bowl", "B.open the pot lid", "C.turn the top knob of the microwave", "D.take the roll of paper down from the shelf" ] }, { "task_id": "0003589", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cup on the cup rack, B.put the glass lid on the black pot, C.pour the contents of the bottle into the purple bowl, D.press the bread machine button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003589.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup rack", "B.put the glass lid on the black pot", "C.pour the contents of the bottle into the purple bowl", "D.press the bread machine button" ] }, { "task_id": "0003590", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0015_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker in the cup, B.put the plate on the countertop outside the goal, C.put the things in the drawer, close the drawer, D.put the bag on the table], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003590.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the cup", "B.put the plate on the countertop outside the goal", "C.put the things in the drawer, close the drawer", "D.put the bag on the table" ] }, { "task_id": "0003592", "task": "TrajChoice", "id": "RH20T_cfg2_task_0071_user_0014_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put a sweet from the table in the lunchbox, B.put the remote control on the paper, C.move the bottle to the table, D.close a sliding window], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003592.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put a sweet from the table in the lunchbox", "B.put the remote control on the paper", "C.move the bottle to the table", "D.close a sliding window" ] }, { "task_id": "0003593", "task": "TrajChoice", "id": "RH20T_cfg7_task_0038_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the cup, B.turn on the kettle, C.put the glass lid on the pot, D.move the magazine to the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003593.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.turn on the kettle", "C.put the glass lid on the pot", "D.move the magazine to the table" ] }, { "task_id": "0003594", "task": "TrajChoice", "id": "RH20T_cfg1_task_0089_user_0014_scene_0008_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the fork from the plate and place it on the table, B.move the green cube and the bowl backwards, C.push the drawer inward to close it, D.push an object with obstacles] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003594.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the fork from the plate and place it on the table", "B.move the green cube and the bowl backwards", "C.push the drawer inward to close it", "D.push an object with obstacles" ] }, { "task_id": "0003595", "task": "TrajChoice", "id": "RH20T_cfg4_task_0032_user_0016_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.moving the object from the front side of the table to the top of the black bowl on the back side of the table, B.push the lid of the gift box to close the gift box, C.pick up the hand sanitizer bottle and move to the faucet, D.move the blue block forward and press], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003595.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.moving the object from the front side of the table to the top of the black bowl on the back side of the table", "B.push the lid of the gift box to close the gift box", "C.pick up the hand sanitizer bottle and move to the faucet", "D.move the blue block forward and press" ] }, { "task_id": "0003596", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open a sliding window, B.pour the contents from the orange cup into the white bowl, C.place the bowl on the table into the microwave, D.put the toy on the surface], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003596.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a sliding window", "B.pour the contents from the orange cup into the white bowl", "C.place the bowl on the table into the microwave", "D.put the toy on the surface" ] }, { "task_id": "0003597", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0003_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the bottom drawer of the right cabinet, B.pick up a small block, C.move the cup backward, D.move the dish rack 90 degrees], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003597.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the bottom drawer of the right cabinet", "B.pick up a small block", "C.move the cup backward", "D.move the dish rack 90 degrees" ] }, { "task_id": "0003598", "task": "TrajChoice", "id": "RH20T_cfg5_task_0011_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the spoon on the table, B.arrange the two small pillows against the right armrest of the sofa, C.lift up the trash can, D.water the plant] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003598.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the spoon on the table", "B.arrange the two small pillows against the right armrest of the sofa", "C.lift up the trash can", "D.water the plant" ] }, { "task_id": "0003599", "task": "TrajChoice", "id": "RH20T_cfg4_task_0200_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.Insert the tip of a large pipette into the holder for large pipette tips, B.wiping the table with a tissue, C.move the towel to the box, D.move the green cloth to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003599.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.Insert the tip of a large pipette into the holder for large pipette tips", "B.wiping the table with a tissue", "C.move the towel to the box", "D.move the green cloth to the right" ] }, { "task_id": "0003600", "task": "TrajChoice", "id": "RH20T_cfg3_task_0059_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the tap to the left, B.put the marker in the mug, C.push the box under the cabinet, D.turn the knob to increase the volume of the speaker] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003600.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the tap to the left", "B.put the marker in the mug", "C.push the box under the cabinet", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0003601", "task": "TrajChoice", "id": "RH20T_cfg4_task_0062_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the box from the transparent box to the table, B.put the toilet paper on its holder, C.take the object from the desk and put it into the cabinet above, D.press on the remote] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003601.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the box from the transparent box to the table", "B.put the toilet paper on its holder", "C.take the object from the desk and put it into the cabinet above", "D.press on the remote" ] }, { "task_id": "0003602", "task": "TrajChoice", "id": "RH20T_cfg3_task_0069_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.assemble one piece of a puzzle, B.hang the T-shirt on the back of the chair, C.put the black object on the table, put the notebook on the black object, D.put the lid on the transparent box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003602.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.assemble one piece of a puzzle", "B.hang the T-shirt on the back of the chair", "C.put the black object on the table, put the notebook on the black object", "D.put the lid on the transparent box" ] }, { "task_id": "0003603", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0011_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pick up the white rope and arrange it neatly on the board, B.pour the contents of the bowl onto the table, C.play the drum, D.take the marker out of the cup and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003603.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the white rope and arrange it neatly on the board", "B.pour the contents of the bowl onto the table", "C.play the drum", "D.take the marker out of the cup and put it on the table" ] }, { "task_id": "0003604", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0003_scene_0003_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the lid from the pot and place it on the table, B.put the nail polish in the bowl at the right, C.put the pen into the pen holder, D.put the purple ball in the white bowl], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003604.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid from the pot and place it on the table", "B.put the nail polish in the bowl at the right", "C.put the pen into the pen holder", "D.put the purple ball in the white bowl" ] }, { "task_id": "0003605", "task": "TrajChoice", "id": "RH20T_cfg6_task_0051_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the dish off the dish rack, B.take an item of clothing from the chair and place it on the couch, C.put the cup in the bowl, D.take the cloth from the cabinet and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003605.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the dish off the dish rack", "B.take an item of clothing from the chair and place it on the couch", "C.put the cup in the bowl", "D.take the cloth from the cabinet and put it on the table" ] }, { "task_id": "0003606", "task": "TrajChoice", "id": "RH20T_cfg2_task_0026_user_0003_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.use the gripper to push and close the drawer, B.put the pen into the pen holder, C.hang the towel on the colourless screen, D.move the silver object to the right side of the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003606.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use the gripper to push and close the drawer", "B.put the pen into the pen holder", "C.hang the towel on the colourless screen", "D.move the silver object to the right side of the table" ] }, { "task_id": "0003607", "task": "TrajChoice", "id": "RH20T_cfg6_task_0084_user_0007_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the yellow block in the cup, B.move the silver plate from the right side of the table to the left side of the table, C.put the marker in the cup, D.assemble: attach the bubble ring to the ball] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003607.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow block in the cup", "B.move the silver plate from the right side of the table to the left side of the table", "C.put the marker in the cup", "D.assemble: attach the bubble ring to the ball" ] }, { "task_id": "0003608", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.the object moves onto the green object, B.move the plush toy from the container to the sink, C.remove the object from the scale, D.press the red button on the yellow base on the black tablecloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003608.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the object moves onto the green object", "B.move the plush toy from the container to the sink", "C.remove the object from the scale", "D.press the red button on the yellow base on the black tablecloth" ] }, { "task_id": "0003609", "task": "TrajChoice", "id": "RH20T_cfg6_task_0073_user_0020_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn the plastic packaging around, B.the movable transparent box, C.turn on the light, D.put the things in the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003609.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the plastic packaging around", "B.the movable transparent box", "C.turn on the light", "D.put the things in the drawer" ] }, { "task_id": "0003610", "task": "TrajChoice", "id": "RH20T_cfg3_task_0063_user_0010_scene_0001_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the white plate in front of the right side of the dishwasher, B.put the cup in the bowl, C.pick up the shovel and move to the tissue bag above, D.slide the curtain to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003610.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white plate in front of the right side of the dishwasher", "B.put the cup in the bowl", "C.pick up the shovel and move to the tissue bag above", "D.slide the curtain to the left" ] }, { "task_id": "0003611", "task": "TrajChoice", "id": "RH20T_cfg5_task_0056_user_0010_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the hanger on the right side of the rack, B.place the black chess piece in the corresponding position, C.push the block to the middle of the board, D.received something handed over by a human] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003611.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the hanger on the right side of the rack", "B.place the black chess piece in the corresponding position", "C.push the block to the middle of the board", "D.received something handed over by a human" ] }, { "task_id": "0003612", "task": "TrajChoice", "id": "RH20T_cfg5_task_0089_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push an object with obstacles, B.take the transparent box to below the white object, C.pick the basket and move it to the right of the bin, D.open the lid of the white bin], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003612.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push an object with obstacles", "B.take the transparent box to below the white object", "C.pick the basket and move it to the right of the bin", "D.open the lid of the white bin" ] }, { "task_id": "0003613", "task": "TrajChoice", "id": "RH20T_cfg4_task_0103_user_0014_scene_0018_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.drag the plate to the goal post after holding it down, B.remove the hoodie from the rack and put it on the couch, C.counterclockwise rotation of the seat, D.open the right door of the top cabinet], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003613.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.remove the hoodie from the rack and put it on the couch", "C.counterclockwise rotation of the seat", "D.open the right door of the top cabinet" ] }, { "task_id": "0003614", "task": "TrajChoice", "id": "RH20T_cfg3_task_0029_user_0011_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the orange rubber duck into the pot, B.remove the bubble ring from the assembled bubble ring and ball, C.grasp the handle and open the drawer, D.place the CD into the pen holder] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003614.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange rubber duck into the pot", "B.remove the bubble ring from the assembled bubble ring and ball", "C.grasp the handle and open the drawer", "D.place the CD into the pen holder" ] }, { "task_id": "0003615", "task": "TrajChoice", "id": "RH20T_cfg1_task_0042_user_0016_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.screw the lid onto the jar, B.move the white plate to the table, C.open the rice cooker, lift the switch on the toaster, then close the rice cooker, D.insert the tip of a medium pipette into the holder for medium pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003615.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.screw the lid onto the jar", "B.move the white plate to the table", "C.open the rice cooker, lift the switch on the toaster, then close the rice cooker", "D.insert the tip of a medium pipette into the holder for medium pipette tips" ] }, { "task_id": "0003616", "task": "TrajChoice", "id": "RH20T_cfg6_task_0032_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slide the outer casing onto the gift box, B.put the black cable into the compartment, C.plug the plug into the socket, D.screw the lid onto the jar] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003616.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the outer casing onto the gift box", "B.put the black cable into the compartment", "C.plug the plug into the socket", "D.screw the lid onto the jar" ] }, { "task_id": "0003618", "task": "TrajChoice", "id": "RH20T_cfg6_task_0105_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pour the contents of the box onto the cloth, B.put the pot on the counter, C.use the towel to wipe the desk, D.move the rectangular block] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003618.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the contents of the box onto the cloth", "B.put the pot on the counter", "C.use the towel to wipe the desk", "D.move the rectangular block" ] }, { "task_id": "0003619", "task": "TrajChoice", "id": "RH20T_cfg4_task_0024_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.turn off the power strip by pressing the button, B.pick up the cloth from the chair and put it on the table, C.folding the towel, D.put the marker in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003619.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.pick up the cloth from the chair and put it on the table", "C.folding the towel", "D.put the marker in the cup" ] }, { "task_id": "0003620", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0007_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the button of the power strip, B.put the hanger on the coat rack onto the counter, C.put the object into the container, D.stir in the pot with the wooden spoon], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003620.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button of the power strip", "B.put the hanger on the coat rack onto the counter", "C.put the object into the container", "D.stir in the pot with the wooden spoon" ] }, { "task_id": "0003621", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0014_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.pick up the cup, B.pick up the brown plush toy from the pot and transfer it to the table, C.grasp the handle and close the drawer, D.remove the orange marker from the red mug], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003621.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.pick up the brown plush toy from the pot and transfer it to the table", "C.grasp the handle and close the drawer", "D.remove the orange marker from the red mug" ] }, { "task_id": "0003622", "task": "TrajChoice", "id": "RH20T_cfg5_task_0118_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the bowl from the stove and place it on the left side of the countertop, B.turn on the water tap, C.pick up the lid from the jar and put it on the table, D.put the green ball in the black cup] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003622.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bowl from the stove and place it on the left side of the countertop", "B.turn on the water tap", "C.pick up the lid from the jar and put it on the table", "D.put the green ball in the black cup" ] }, { "task_id": "0003623", "task": "TrajChoice", "id": "RH20T_cfg1_task_0059_user_0014_scene_0003_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the black pot to the right then use the spoon to take some contents out of the pot, B.turn the faucet to the left, C.turn the knob to increase the volume of the speaker, D.put the book on another book], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003623.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black pot to the right then use the spoon to take some contents out of the pot", "B.turn the faucet to the left", "C.turn the knob to increase the volume of the speaker", "D.put the book on another book" ] }, { "task_id": "0003624", "task": "TrajChoice", "id": "RH20T_cfg4_task_0072_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the rubber band around the base of the cup, B.put the mug in the sink, add some water to it, and then turn off the tap, C.drop a coin into a piggy bank, D.push the nightstand shelf closed] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003624.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rubber band around the base of the cup", "B.put the mug in the sink, add some water to it, and then turn off the tap", "C.drop a coin into a piggy bank", "D.push the nightstand shelf closed" ] }, { "task_id": "0003625", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0010_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the lid on the table, B.plug in the bulb holder to the socket, C.put the lid on the pot, D.pick up the positive clamp from the table and hang it on the electrical box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003625.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the table", "B.plug in the bulb holder to the socket", "C.put the lid on the pot", "D.pick up the positive clamp from the table and hang it on the electrical box" ] }, { "task_id": "0003626", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the pencil out from the pencil sharpener, B.put the clothes on the back of the chair, C.slide the outer casing onto the gift box, D.put the rubber band around the cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003626.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pencil out from the pencil sharpener", "B.put the clothes on the back of the chair", "C.slide the outer casing onto the gift box", "D.put the rubber band around the cup" ] }, { "task_id": "0003628", "task": "TrajChoice", "id": "RH20T_cfg5_task_0059_user_0007_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn the knob to increase the volume of the speaker, B.pour the contents from the transparent cup into the bowl, C.move the wooden block from the pink box to the black box, D.move the white mouse to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003628.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn the knob to increase the volume of the speaker", "B.pour the contents from the transparent cup into the bowl", "C.move the wooden block from the pink box to the black box", "D.move the white mouse to the right" ] }, { "task_id": "0003629", "task": "TrajChoice", "id": "RH20T_cfg6_task_0092_user_0020_scene_0007_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the toy in the sink, B.fold the grey towel on the table in half, C.moving the mat from the gas stove in the lower right to above the gas stove in the upper left, D.turn the hands of a clock], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003629.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toy in the sink", "B.fold the grey towel on the table in half", "C.moving the mat from the gas stove in the lower right to above the gas stove in the upper left", "D.turn the hands of a clock" ] }, { "task_id": "0003630", "task": "TrajChoice", "id": "RH20T_cfg4_task_0007_user_0010_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.uncover the pot, B.slide the small block to the left, C.remove the object from the scale, D.wiping the table with a towel, and then putting it in the box], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003630.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.uncover the pot", "B.slide the small block to the left", "C.remove the object from the scale", "D.wiping the table with a towel, and then putting it in the box" ] }, { "task_id": "0003631", "task": "TrajChoice", "id": "RH20T_cfg6_task_0029_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.grasp the handle and open the drawer, B.move the faucet handle upwards, C.the clothes on the rack, D.put the pen holder upright, move the solid glue into the pen holder] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003631.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasp the handle and open the drawer", "B.move the faucet handle upwards", "C.the clothes on the rack", "D.put the pen holder upright, move the solid glue into the pen holder" ] }, { "task_id": "0003632", "task": "TrajChoice", "id": "RH20T_cfg4_task_0124_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push down the lever, B.put the white towel on the blue towel, C.pick up the blue block and put it on top of the green block, D.put the black object in the drawer then close the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003632.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.put the white towel on the blue towel", "C.pick up the blue block and put it on top of the green block", "D.put the black object in the drawer then close the drawer" ] }, { "task_id": "0003633", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the object into the bowl, B.turn on the power strip by pressing the button, C.put the bottle in the cup on the table, D.unfolding the clothes on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003633.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the bowl", "B.turn on the power strip by pressing the button", "C.put the bottle in the cup on the table", "D.unfolding the clothes on the table" ] }, { "task_id": "0003634", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0003_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take everything out of the gift box, B.put the black object on the right side of the table, C.turn on the second switch from the right of the socket, D.pick up the black plate from the cabinet and put it in the drawer] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003634.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.put the black object on the right side of the table", "C.turn on the second switch from the right of the socket", "D.pick up the black plate from the cabinet and put it in the drawer" ] }, { "task_id": "0003635", "task": "TrajChoice", "id": "RH20T_cfg7_task_0061_user_0014_scene_0003_cfg_0007_104122064161#190", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pour the sweets out of the left cup into the right one, B.pick up a bag of things, C.put the throw pillow on the back of the sofa, D.take everything out of the gift box] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003635.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pour the sweets out of the left cup into the right one", "B.pick up a bag of things", "C.put the throw pillow on the back of the sofa", "D.take everything out of the gift box" ] }, { "task_id": "0003637", "task": "TrajChoice", "id": "RH20T_cfg4_task_0059_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the pencil from the left side of the table to the right side of the table, B.pull out a napkin, C.put the glue stick in the box, D.turn the knob to increase the volume of the speaker] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003637.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pencil from the left side of the table to the right side of the table", "B.pull out a napkin", "C.put the glue stick in the box", "D.turn the knob to increase the volume of the speaker" ] }, { "task_id": "0003638", "task": "TrajChoice", "id": "RH20T_cfg5_task_0079_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the microwave door, B.move the green object from the gray plate to the green plate, C.put the box into the big box, D.put the grey hoodie on the back of the chair], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003638.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the microwave door", "B.move the green object from the gray plate to the green plate", "C.put the box into the big box", "D.put the grey hoodie on the back of the chair" ] }, { "task_id": "0003639", "task": "TrajChoice", "id": "RH20T_cfg5_task_0010_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.pick up the cup, B.transfer the block from the table to the bowl, C.place the handset of the telephone on the corresponding phone cradle, D.turn the knob on the toaster clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003639.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the cup", "B.transfer the block from the table to the bowl", "C.place the handset of the telephone on the corresponding phone cradle", "D.turn the knob on the toaster clockwise" ] }, { "task_id": "0003640", "task": "TrajChoice", "id": "RH20T_cfg3_task_0071_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.stack the three transparent boxes on the table together, B.close a sliding window, C.put the mat on the cup, D.put the shoes on the top left shoe rack] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003640.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the three transparent boxes on the table together", "B.close a sliding window", "C.put the mat on the cup", "D.put the shoes on the top left shoe rack" ] }, { "task_id": "0003641", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the bowl on the left side of the table, B.put the remote on the stand, C.put the block on the block, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003641.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bowl on the left side of the table", "B.put the remote on the stand", "C.put the block on the block", "D.play the drum" ] }, { "task_id": "0003642", "task": "TrajChoice", "id": "RH20T_cfg2_task_0052_user_0016_scene_0007_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the desk lamp by pressing the button, B.fold the towel on the table, C.put the garbage in the trash can, D.grab a basketball, release it and shoot it into the basket], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003642.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.fold the towel on the table", "C.put the garbage in the trash can", "D.grab a basketball, release it and shoot it into the basket" ] }, { "task_id": "0003643", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the orange object into the pot, B.move the blue pen to the left edge of the table, C.fold the yellow towel, D.grab the block and place it at the designated location], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003643.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange object into the pot", "B.move the blue pen to the left edge of the table", "C.fold the yellow towel", "D.grab the block and place it at the designated location" ] }, { "task_id": "0003644", "task": "TrajChoice", "id": "RH20T_cfg4_task_0015_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.throwing a crumpled paper into the trash bin, B.play the drum, C.pick up a bag of things, D.place the black item in the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003644.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.throwing a crumpled paper into the trash bin", "B.play the drum", "C.pick up a bag of things", "D.place the black item in the box" ] }, { "task_id": "0003645", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.move the brown cube from the table to the edge of the table, B.take a pack of snacks from the counter and put it inside the big packet, C.put the bottle upright, D.pick up and place an object with obstacles], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003645.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the brown cube from the table to the edge of the table", "B.take a pack of snacks from the counter and put it inside the big packet", "C.put the bottle upright", "D.pick up and place an object with obstacles" ] }, { "task_id": "0003646", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0017_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.place the fabric on the flat surface, B.cleaning the table, C.pick up a block, D.put the marker on the table] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003646.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the fabric on the flat surface", "B.cleaning the table", "C.pick up a block", "D.put the marker on the table" ] }, { "task_id": "0003647", "task": "TrajChoice", "id": "RH20T_cfg4_task_0032_user_0016_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.slide the outer casing onto the gift box, B.place the soda can into the kitchen sink, C.turn off the desk lamp by pressing the button, D.press the button on the microwave to open the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003647.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the outer casing onto the gift box", "B.place the soda can into the kitchen sink", "C.turn off the desk lamp by pressing the button", "D.press the button on the microwave to open the microwave door" ] }, { "task_id": "0003648", "task": "TrajChoice", "id": "RH20T_cfg3_task_0045_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the cube toy from the sink and put it on the counter left of the sink, B.place the brush on the pen rack, C.press the third switch on the right, D.put the object in the container], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003648.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the cube toy from the sink and put it on the counter left of the sink", "B.place the brush on the pen rack", "C.press the third switch on the right", "D.put the object in the container" ] }, { "task_id": "0003649", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0005_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the black box from the right side of the table to the left side of the table, B.put the toys on the desk into the green bowl, C.plug in the bulb holder to the socket, D.counterclockwise rotation of the kettle] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003649.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black box from the right side of the table to the left side of the table", "B.put the toys on the desk into the green bowl", "C.plug in the bulb holder to the socket", "D.counterclockwise rotation of the kettle" ] }, { "task_id": "0003650", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.turn on the desk lamp by pressing the button, B.hit the pool ball, C.move the bottle from near the mirror to the edge of the table, D.put the towel into the silver pot], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003650.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the desk lamp by pressing the button", "B.hit the pool ball", "C.move the bottle from near the mirror to the edge of the table", "D.put the towel into the silver pot" ] }, { "task_id": "0003652", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.unfold the orange cloth, B.pick up the pen from the wooden board and put it on the table, C.open a sliding window, D.moving the can from the transparent bowl and placing it on the countertop], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003652.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unfold the orange cloth", "B.pick up the pen from the wooden board and put it on the table", "C.open a sliding window", "D.moving the can from the transparent bowl and placing it on the countertop" ] }, { "task_id": "0003653", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the small block from below the cardboard to above the cardboard, B.put the toy banana into the black bowl, C.put the cube on the counter, D.pull up the lever] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003653.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the small block from below the cardboard to above the cardboard", "B.put the toy banana into the black bowl", "C.put the cube on the counter", "D.pull up the lever" ] }, { "task_id": "0003654", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the towel slightly to the left, B.place the cup on the scale, C.the grey towel on the folding table, D.remove the lid from the glass jar and place it on the tray], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003654.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel slightly to the left", "B.place the cup on the scale", "C.the grey towel on the folding table", "D.remove the lid from the glass jar and place it on the tray" ] }, { "task_id": "0003655", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the blue object inside the drawer, B.pick up a small block, C.move the pot to the right side, D.move the roll of paper to the left side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003655.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the blue object inside the drawer", "B.pick up a small block", "C.move the pot to the right side", "D.move the roll of paper to the left side of the table" ] }, { "task_id": "0003656", "task": "TrajChoice", "id": "RH20T_cfg3_task_0032_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.slide the outer casing onto the gift box, B.close the drawer, C.drag the plate to the goal post after holding it down, D.push the faucet to the left] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003656.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the outer casing onto the gift box", "B.close the drawer", "C.drag the plate to the goal post after holding it down", "D.push the faucet to the left" ] }, { "task_id": "0003657", "task": "TrajChoice", "id": "RH20T_cfg2_task_0039_user_0007_scene_0008_cfg_0002_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the object to the left side of the table, and then put it down, B.pour the water from a cup into another empty cup, C.pick up the small block on the left and move it to the right, D.put the black tape on the white plate] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003657.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the object to the left side of the table, and then put it down", "B.pour the water from a cup into another empty cup", "C.pick up the small block on the left and move it to the right", "D.put the black tape on the white plate" ] }, { "task_id": "0003659", "task": "TrajChoice", "id": "RH20T_cfg6_task_0026_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.uncover the pot and put the lid on the table, B.pick the marker from the bowl and put it on the table, C.use the gripper to push and close the drawer, D.close the box], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003659.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.uncover the pot and put the lid on the table", "B.pick the marker from the bowl and put it on the table", "C.use the gripper to push and close the drawer", "D.close the box" ] }, { "task_id": "0003660", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.open the cardboard box, B.hold a small block with the gripper and sweep it from left to right on the table, C.the rubbing board, D.insert the tip of a small pipette into the holder for small pipette tips], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003660.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the cardboard box", "B.hold a small block with the gripper and sweep it from left to right on the table", "C.the rubbing board", "D.insert the tip of a small pipette into the holder for small pipette tips" ] }, { "task_id": "0003661", "task": "TrajChoice", "id": "RH20T_cfg2_task_0094_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.open a box, B.move the tape to the microwave, C.close the refrigerator door, D.pick up the glue stick from the desk and put it into the cup] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003661.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.move the tape to the microwave", "C.close the refrigerator door", "D.pick up the glue stick from the desk and put it into the cup" ] }, { "task_id": "0003662", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0011_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the towel on the rack, B.remove the marker from the bowl and put it on the table, C.fold the t-shirt once, D.hit the pool ball], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003662.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel on the rack", "B.remove the marker from the bowl and put it on the table", "C.fold the t-shirt once", "D.hit the pool ball" ] }, { "task_id": "0003663", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0013_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out a Hanoi block and throw it aside, B.close the top drawer of the file cabinet on the right, C.put the transparent jar on the table, D.move the white plate to the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003663.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out a Hanoi block and throw it aside", "B.close the top drawer of the file cabinet on the right", "C.put the transparent jar on the table", "D.move the white plate to the table" ] }, { "task_id": "0003664", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the photo frame down from the bracket, B.move the bottle to the left, C.pick up a small block, D.move the coffee cup to the left side of the counter] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003664.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the photo frame down from the bracket", "B.move the bottle to the left", "C.pick up a small block", "D.move the coffee cup to the left side of the counter" ] }, { "task_id": "0003665", "task": "TrajChoice", "id": "RH20T_cfg7_task_0004_user_0014_scene_0005_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the wooden spoon out of the pot then put the lid on the pot, B.take the cloth, move it, and place it on the black object, C.open the microwave door, D.pick up the block from the right side of the desk and place it on the large block on the left] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003665.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the wooden spoon out of the pot then put the lid on the pot", "B.take the cloth, move it, and place it on the black object", "C.open the microwave door", "D.pick up the block from the right side of the desk and place it on the large block on the left" ] }, { "task_id": "0003667", "task": "TrajChoice", "id": "RH20T_cfg4_task_0128_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.plug in the usb drive to the docking station, B.put the scissors in the drawer, C.turn off the main adapter switch, D.performing operations with books and objects] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003667.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the usb drive to the docking station", "B.put the scissors in the drawer", "C.turn off the main adapter switch", "D.performing operations with books and objects" ] }, { "task_id": "0003668", "task": "TrajChoice", "id": "RH20T_cfg1_task_0108_user_0014_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.swat with a flyswatter, B.sharpen the pencil, C.press the third switch from the right, D.move the tissue to the middle of the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003668.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.sharpen the pencil", "C.press the third switch from the right", "D.move the tissue to the middle of the table" ] }, { "task_id": "0003669", "task": "TrajChoice", "id": "RH20T_cfg4_task_0076_user_0007_scene_0008_cfg_0004_104122062823#1236", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.stacking blocks (small Lego) one on top of the other every time, B.move the marker from left to right, C.press the keyboard key, D.move the green block on the left to the left], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003669.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stacking blocks (small Lego) one on top of the other every time", "B.move the marker from left to right", "C.press the keyboard key", "D.move the green block on the left to the left" ] }, { "task_id": "0003670", "task": "TrajChoice", "id": "RH20T_cfg4_task_0076_user_0007_scene_0008_cfg_0004_104122062823#1367", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.push down the lever, B.remove the object from the scale, C.press the power button of the rice cooker, D.stacking blocks (small Lego) one on top of the other every time], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003670.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.remove the object from the scale", "C.press the power button of the rice cooker", "D.stacking blocks (small Lego) one on top of the other every time" ] }, { "task_id": "0003671", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.place the block on the scale, B.press a button on the remote, C.move the red hat to the right, D.insert the toilet paper into its holder], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003671.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the block on the scale", "B.press a button on the remote", "C.move the red hat to the right", "D.insert the toilet paper into its holder" ] }, { "task_id": "0003672", "task": "TrajChoice", "id": "RH20T_cfg5_task_0096_user_0007_scene_0006_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove the white cloth from the black stand, B.take something out of a drawer, C.close the top cupboard door, D.place the bottle on the table into the microwave], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003672.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the white cloth from the black stand", "B.take something out of a drawer", "C.close the top cupboard door", "D.place the bottle on the table into the microwave" ] }, { "task_id": "0003673", "task": "TrajChoice", "id": "RH20T_cfg5_task_0041_user_0007_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.straighten the towel, B.pick up the yellow block and place it inside the light blue cup, C.clean the tabletop with a sponge, D.take the ring from the desk and place it on the column], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003673.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.straighten the towel", "B.pick up the yellow block and place it inside the light blue cup", "C.clean the tabletop with a sponge", "D.take the ring from the desk and place it on the column" ] }, { "task_id": "0003674", "task": "TrajChoice", "id": "RH20T_cfg5_task_0004_user_0020_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the button on the toaster, B.take the yellow object from the shelf and place it in the silver pot, C.move the object from the bag to the table, D.pick up the small block on the left and move it to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003674.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the toaster", "B.take the yellow object from the shelf and place it in the silver pot", "C.move the object from the bag to the table", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0003675", "task": "TrajChoice", "id": "RH20T_cfg2_task_0032_user_0003_scene_0010_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the clear pump bottle in the white colander then put it in the silver bowl, B.slide the outer casing onto the gift box, C.put the white toy on the bed onto the shelf, D.take the lid from the desktop and place it in the transparent container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003675.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clear pump bottle in the white colander then put it in the silver bowl", "B.slide the outer casing onto the gift box", "C.put the white toy on the bed onto the shelf", "D.take the lid from the desktop and place it in the transparent container" ] }, { "task_id": "0003676", "task": "TrajChoice", "id": "RH20T_cfg4_task_0009_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the wooden object from the top of the stack, B.take the orange Hanoi block off the shelf and place it on the table, C.move the salt cellar to the right, D.take the pen from the cup and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003676.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the wooden object from the top of the stack", "B.take the orange Hanoi block off the shelf and place it on the table", "C.move the salt cellar to the right", "D.take the pen from the cup and put it on the table" ] }, { "task_id": "0003677", "task": "TrajChoice", "id": "RH20T_cfg4_task_0112_user_0014_scene_0001_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn off the switch on the adapter, B.grab the object in the middle area of the table, move it to the top of the green bowl in the box on the left side of the table, and then put it down, C.plug in the charger to the socket, D.chop the chili peppers] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003677.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the switch on the adapter", "B.grab the object in the middle area of the table, move it to the top of the green bowl in the box on the left side of the table, and then put it down", "C.plug in the charger to the socket", "D.chop the chili peppers" ] }, { "task_id": "0003678", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.place the long block on the left side of the box, B.press the button from top to bottom, C.take the cup from the sink and place it on the countertop, D.rotate the cover of the book clockwise], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003678.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the long block on the left side of the box", "B.press the button from top to bottom", "C.take the cup from the sink and place it on the countertop", "D.rotate the cover of the book clockwise" ] }, { "task_id": "0003679", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the marker in the bowl, B.pick up a small block, C.put the marker in the mug, D.take the wooden block from the right side of the box to the left side of the box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003679.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.pick up a small block", "C.put the marker in the mug", "D.take the wooden block from the right side of the box to the left side of the box" ] }, { "task_id": "0003680", "task": "TrajChoice", "id": "RH20T_cfg3_task_0020_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the yellow cube inside the blue cup, B.put the screwdriver into the box, C.move the pencil to the left, D.turn on the desk lamp by pressing the button] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003680.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the yellow cube inside the blue cup", "B.put the screwdriver into the box", "C.move the pencil to the left", "D.turn on the desk lamp by pressing the button" ] }, { "task_id": "0003681", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the towel into the basket, B.take the marker out of the cup and put it on the table, C.take the roll of paper down from the shelf, D.pick up the pen from the black mug and put it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003681.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the towel into the basket", "B.take the marker out of the cup and put it on the table", "C.take the roll of paper down from the shelf", "D.pick up the pen from the black mug and put it on the table" ] }, { "task_id": "0003682", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the light switch on the left, B.switch off the power button of the power strip, C.pick up the small block on the right and move it to the left side of the desk, D.put the object into the box] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003682.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the light switch on the left", "B.switch off the power button of the power strip", "C.pick up the small block on the right and move it to the left side of the desk", "D.put the object into the box" ] }, { "task_id": "0003683", "task": "TrajChoice", "id": "RH20T_cfg4_task_0118_user_0007_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the marker on the table, B.turn on the water tap, C.scooping items from the bowl with a spoon and pouring them into the cup, D.pick up the glue stick from the bowl and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003683.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the table", "B.turn on the water tap", "C.scooping items from the bowl with a spoon and pouring them into the cup", "D.pick up the glue stick from the bowl and put it on the table" ] }, { "task_id": "0003684", "task": "TrajChoice", "id": "RH20T_cfg1_task_0010_user_0001_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.put the cup on the cup in the sink, B.the button on the rotating wall, C.place the handset of the telephone on the corresponding phone cradle, D.place the block on the scale] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003684.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cup on the cup in the sink", "B.the button on the rotating wall", "C.place the handset of the telephone on the corresponding phone cradle", "D.place the block on the scale" ] }, { "task_id": "0003686", "task": "TrajChoice", "id": "RH20T_cfg1_task_0025_user_0010_scene_0007_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.pick up the plug, turn on the desk lamp, B.open a sliding window, C.move the white box backward, D.unfold a piece of paper that has been folded in half once (with one end pressed down by a heavy object)] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003686.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the plug, turn on the desk lamp", "B.open a sliding window", "C.move the white box backward", "D.unfold a piece of paper that has been folded in half once (with one end pressed down by a heavy object)" ] }, { "task_id": "0003687", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the roll of paper down from the shelf, B.put the clothes on the ground, C.put the green block in the cup, D.pick up the pen from the chair and place it in the mug cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003687.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.put the clothes on the ground", "C.put the green block in the cup", "D.pick up the pen from the chair and place it in the mug cup" ] }, { "task_id": "0003688", "task": "TrajChoice", "id": "RH20T_cfg6_task_0006_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the grey toy in the red bowl, B.open the lid of the black barrel, C.use the gripper to push the small block from left to right, D.pour the contents of the white cup into the glass cup] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003688.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the grey toy in the red bowl", "B.open the lid of the black barrel", "C.use the gripper to push the small block from left to right", "D.pour the contents of the white cup into the glass cup" ] }, { "task_id": "0003689", "task": "TrajChoice", "id": "RH20T_cfg1_task_0090_user_0010_scene_0001_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the bread into the bread machine and press the lever of the bread machine, B.pour some of the content from the jar into the red bowl, C.turn the faucet to the left, D.touch the wooden block], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003689.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bread into the bread machine and press the lever of the bread machine", "B.pour some of the content from the jar into the red bowl", "C.turn the faucet to the left", "D.touch the wooden block" ] }, { "task_id": "0003690", "task": "TrajChoice", "id": "RH20T_cfg6_task_0022_user_0014_scene_0008_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.fold the white towel and slide it back to the center of the table, B.pick the clothes on the back rest of the chair and put them on the table, C.pick the pen from the cup and put it on the table, D.wave the flag] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003690.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.fold the white towel and slide it back to the center of the table", "B.pick the clothes on the back rest of the chair and put them on the table", "C.pick the pen from the cup and put it on the table", "D.wave the flag" ] }, { "task_id": "0003691", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.remove the object from the scale, B.place the object into the container, C.pour the contents of the black pot into the grey plate, and then put the pot back on the table, D.put the hanger on the counter] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003691.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.place the object into the container", "C.pour the contents of the black pot into the grey plate, and then put the pot back on the table", "D.put the hanger on the counter" ] }, { "task_id": "0003692", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.straighten the blanket on the bed, B.open a sliding window, C.pull the black toy car on the table, D.close the open upper cabinet door] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003692.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.straighten the blanket on the bed", "B.open a sliding window", "C.pull the black toy car on the table", "D.close the open upper cabinet door" ] }, { "task_id": "0003693", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the pot closer to the fork then remove the lid from the pot, B.pick up a small block, C.turn off the water tap, D.place the blue bowl on the stovetop] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003693.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pot closer to the fork then remove the lid from the pot", "B.pick up a small block", "C.turn off the water tap", "D.place the blue bowl on the stovetop" ] }, { "task_id": "0003694", "task": "TrajChoice", "id": "RH20T_cfg4_task_0038_user_0017_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the block forward, B.place the screwdriver inside the open drawer and close the drawer, C.throw the green book to the side of the sofa, D.take the chopstick from the dish rack and throw it into the open drawer] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003694.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block forward", "B.place the screwdriver inside the open drawer and close the drawer", "C.throw the green book to the side of the sofa", "D.take the chopstick from the dish rack and throw it into the open drawer" ] }, { "task_id": "0003695", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.move the towel from the back of one chair to the back of another chair, and then put it back on the back of the original chair, B.close the top drawer of the left cabinet, C.put the things in the drawer, close the drawer, D.dial a number on an old rotary phone], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003695.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the towel from the back of one chair to the back of another chair, and then put it back on the back of the original chair", "B.close the top drawer of the left cabinet", "C.put the things in the drawer, close the drawer", "D.dial a number on an old rotary phone" ] }, { "task_id": "0003696", "task": "TrajChoice", "id": "RH20T_cfg4_task_0110_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.folding table towel, B.put the white and blue packet inside the open cabinet, C.take the pencil out from the pencil sharpener and put it on the desk, D.push the faucet to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003696.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.folding table towel", "B.put the white and blue packet inside the open cabinet", "C.take the pencil out from the pencil sharpener and put it on the desk", "D.push the faucet to the right" ] }, { "task_id": "0003697", "task": "TrajChoice", "id": "RH20T_cfg6_task_0085_user_0007_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.remove the bubble ring from the assembled bubble ring and ball, B.pull the black basket out of the bottom of the black cabinet, C.unhang the cloth from the stand, D.put the bottle from the bag onto the table] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003697.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.pull the black basket out of the bottom of the black cabinet", "C.unhang the cloth from the stand", "D.put the bottle from the bag onto the table" ] }, { "task_id": "0003698", "task": "TrajChoice", "id": "RH20T_cfg4_task_0008_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the rubber band on the cup, B.stack the three cups together, C.remove the cloth from the rack and put it on the table, D.grab the block and place it at the designated location] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003698.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rubber band on the cup", "B.stack the three cups together", "C.remove the cloth from the rack and put it on the table", "D.grab the block and place it at the designated location" ] }, { "task_id": "0003699", "task": "TrajChoice", "id": "RH20T_cfg4_task_0039_user_0010_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.unhang the cloth from the stand, B.pour the water from a cup into another empty cup, C.close the open door, D.close the bin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003699.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unhang the cloth from the stand", "B.pour the water from a cup into another empty cup", "C.close the open door", "D.close the bin" ] }, { "task_id": "0003700", "task": "TrajChoice", "id": "RH20T_cfg1_task_0005_user_0004_scene_0004_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.make the bed, B.close the microwave door, C.open the left door of the cupboard, D.slightly push the block to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003700.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.make the bed", "B.close the microwave door", "C.open the left door of the cupboard", "D.slightly push the block to the right" ] }, { "task_id": "0003701", "task": "TrajChoice", "id": "RH20T_cfg6_task_0216_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the cloth at the edge of the table, B.chop the cucumber into shreds, C.move the white plate to the left side of the table, D.pour the contents from the blue box into the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003701.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the cloth at the edge of the table", "B.chop the cucumber into shreds", "C.move the white plate to the left side of the table", "D.pour the contents from the blue box into the pot" ] }, { "task_id": "0003702", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.insert the pencil into the pencil sharpener, B.pick up a small block, C.assemble a puzzle, D.put the cup in the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003702.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.pick up a small block", "C.assemble a puzzle", "D.put the cup in the bowl" ] }, { "task_id": "0003704", "task": "TrajChoice", "id": "RH20T_cfg6_task_0043_user_0014_scene_0003_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the white cable inside the bag on the chair, B.turn the faucet to the left, C.move the black cloth from the left side of the table to the right side of the table, D.unscrew the lid from the bottle (requires twisting)], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003704.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white cable inside the bag on the chair", "B.turn the faucet to the left", "C.move the black cloth from the left side of the table to the right side of the table", "D.unscrew the lid from the bottle (requires twisting)" ] }, { "task_id": "0003706", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the object from the scale, B.move the teddy to the right, C.unfold the blanket, D.move the grey plate to the middle of the basket and the black tray], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003706.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the object from the scale", "B.move the teddy to the right", "C.unfold the blanket", "D.move the grey plate to the middle of the basket and the black tray" ] }, { "task_id": "0003708", "task": "TrajChoice", "id": "RH20T_cfg6_task_0021_user_0014_scene_0010_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the object from the cabinet and put it on the counter, B.remove the glass lid from the black pot, C.rotate the button on the appliance clockwise, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003708.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the object from the cabinet and put it on the counter", "B.remove the glass lid from the black pot", "C.rotate the button on the appliance clockwise", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003709", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.press the button horizontally, B.place the block on the scale, C.put the bridge-shaped object on the table, D.take the lid off the blue pot and place it on the black pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003709.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.place the block on the scale", "C.put the bridge-shaped object on the table", "D.take the lid off the blue pot and place it on the black pot" ] }, { "task_id": "0003710", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the toy box closer to you, B.put the lid on the pot, C.clean the table with a cloth, D.put the pen in the box in the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003710.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the toy box closer to you", "B.put the lid on the pot", "C.clean the table with a cloth", "D.put the pen in the box in the drawer" ] }, { "task_id": "0003711", "task": "TrajChoice", "id": "RH20T_cfg6_task_0012_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the blue towel from the table to the whiteboard and wipe, B.push the soccer ball into the goal, C.pick up the marker from the table and put it in the cup, D.move the block from above the table to below the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003711.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the blue towel from the table to the whiteboard and wipe", "B.push the soccer ball into the goal", "C.pick up the marker from the table and put it in the cup", "D.move the block from above the table to below the table" ] }, { "task_id": "0003713", "task": "TrajChoice", "id": "RH20T_cfg7_task_0014_user_0014_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.remove the block from the scale and put it on the table, B.move the coffee mug forward then backwards, C.put the lid of the pot on the table, then put the doll in the pot, D.place the object on the spoon, then pick up the spoon and put the object back onto the take-away food container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003713.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the block from the scale and put it on the table", "B.move the coffee mug forward then backwards", "C.put the lid of the pot on the table, then put the doll in the pot", "D.place the object on the spoon, then pick up the spoon and put the object back onto the take-away food container" ] }, { "task_id": "0003714", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.move the mug slightly forward, B.push the soccer ball into the goal, C.put the green grapes in the white bowl, D.close the cabinet door] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003714.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the mug slightly forward", "B.push the soccer ball into the goal", "C.put the green grapes in the white bowl", "D.close the cabinet door" ] }, { "task_id": "0003715", "task": "TrajChoice", "id": "RH20T_cfg2_task_0042_user_0007_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the microwave to the left side, turn the microwave switch, B.scrub the inside of the flask, C.press the button from top to bottom, D.screw the lid onto the jar (needs to be twisted)] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003715.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the microwave to the left side, turn the microwave switch", "B.scrub the inside of the flask", "C.press the button from top to bottom", "D.screw the lid onto the jar (needs to be twisted)" ] }, { "task_id": "0003717", "task": "TrajChoice", "id": "RH20T_cfg5_task_0015_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the white and blue towels inside the cabinet, B.pour the contents of the white mug into the black bowl, C.put the blue cup in the sink, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003717.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white and blue towels inside the cabinet", "B.pour the contents of the white mug into the black bowl", "C.put the blue cup in the sink", "D.play the drum" ] }, { "task_id": "0003720", "task": "TrajChoice", "id": "RH20T_cfg7_task_0044_user_0020_scene_0010_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.move the white tube to the left side of the countertop, B.twist the upper knob of the microwave to the left, C.pick up a bag of things, D.pick up the cleaning wipe and clean the stove], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003720.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the white tube to the left side of the countertop", "B.twist the upper knob of the microwave to the left", "C.pick up a bag of things", "D.pick up the cleaning wipe and clean the stove" ] }, { "task_id": "0003722", "task": "TrajChoice", "id": "RH20T_cfg7_task_0010_user_0020_scene_0008_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pressing the keys of the piano, B.take the pen out of the white mug, C.put things in the drawer, D.place the handset of the telephone on the corresponding phone cradle], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003722.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pressing the keys of the piano", "B.take the pen out of the white mug", "C.put things in the drawer", "D.place the handset of the telephone on the corresponding phone cradle" ] }, { "task_id": "0003723", "task": "TrajChoice", "id": "RH20T_cfg4_task_0019_user_0016_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grasping the moving object, B.align the two spoons, C.use the white napkin to wipe the white bowl, D.play the first move as black on the 3-4 point in the upper right corner of the Go board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003723.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grasping the moving object", "B.align the two spoons", "C.use the white napkin to wipe the white bowl", "D.play the first move as black on the 3-4 point in the upper right corner of the Go board" ] }, { "task_id": "0003724", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take everything out of the gift box, B.pick up the lid and cover the pot, C.turn the second last knob on the stove to the right, D.put the marker on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003724.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take everything out of the gift box", "B.pick up the lid and cover the pot", "C.turn the second last knob on the stove to the right", "D.put the marker on the table" ] }, { "task_id": "0003725", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#198", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.push the drawer to close it, B.take everything out of the gift box, C.lay the bottle horizontally on the table, D.take the gray towel from the towel rack and place it on the black chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003725.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the drawer to close it", "B.take everything out of the gift box", "C.lay the bottle horizontally on the table", "D.take the gray towel from the towel rack and place it on the black chair" ] }, { "task_id": "0003726", "task": "TrajChoice", "id": "RH20T_cfg3_task_0061_user_0010_scene_0007_cfg_0003_104122062823#288", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the fork from the green plate and place it inside the pink mug, B.pick the object and put it in the bowl, C.take everything out of the gift box, D.cleaning the table with a white cloth on the desktop], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003726.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the fork from the green plate and place it inside the pink mug", "B.pick the object and put it in the bowl", "C.take everything out of the gift box", "D.cleaning the table with a white cloth on the desktop" ] }, { "task_id": "0003727", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the pen in the cup, B.press the switch at the switch to turn on the microwave, C.push the soccer ball into the goal, D.pick up the white towel and put it in the black basket on the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003727.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen in the cup", "B.press the switch at the switch to turn on the microwave", "C.push the soccer ball into the goal", "D.pick up the white towel and put it in the black basket on the right" ] }, { "task_id": "0003728", "task": "TrajChoice", "id": "RH20T_cfg3_task_0073_user_0010_scene_0007_cfg_0003_038522062288#267", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the lamp down, B.put the marker in the cup, C.spread the corner of the bed well, D.put the things in the drawer] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003728.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the lamp down", "B.put the marker in the cup", "C.spread the corner of the bed well", "D.put the things in the drawer" ] }, { "task_id": "0003729", "task": "TrajChoice", "id": "RH20T_cfg5_task_0094_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open a box, B.put the cables into the compartment, C.put the things in the drawer, D.Move the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003729.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.put the cables into the compartment", "C.put the things in the drawer", "D.Move the towel" ] }, { "task_id": "0003730", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.press the keyboard, B.pick the marker from the pot and put it on the table, C.move the pillow to the right, D.remove the object from the scale], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003730.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the keyboard", "B.pick the marker from the pot and put it on the table", "C.move the pillow to the right", "D.remove the object from the scale" ] }, { "task_id": "0003731", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.insert the pencil into the pencil sharpener, B.put a blue block inside the wooden toy box, C.move the bottle into the bag, D.moving a cloth from the sofa to the bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003731.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.insert the pencil into the pencil sharpener", "B.put a blue block inside the wooden toy box", "C.move the bottle into the bag", "D.moving a cloth from the sofa to the bowl" ] }, { "task_id": "0003732", "task": "TrajChoice", "id": "RH20T_cfg5_task_0023_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the power strip by pressing the button, B.hit the pool ball, C.pour the contents in the transparent cup into the black pot, D.close the microwave door] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003732.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the button", "B.hit the pool ball", "C.pour the contents in the transparent cup into the black pot", "D.close the microwave door" ] }, { "task_id": "0003733", "task": "TrajChoice", "id": "RH20T_cfg3_task_0084_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.press the top of the coffee maker, B.put the wallpaper knife on the table, C.assemble: attach the bubble ring to the ball, D.put the glue stick on the pen holder], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003733.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the top of the coffee maker", "B.put the wallpaper knife on the table", "C.assemble: attach the bubble ring to the ball", "D.put the glue stick on the pen holder" ] }, { "task_id": "0003734", "task": "TrajChoice", "id": "RH20T_cfg2_task_0017_user_0006_scene_0001_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the pen into the pen holder, B.put the item on the table, C.press the water dispenser button, D.press the button horizontally] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003734.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the pen into the pen holder", "B.put the item on the table", "C.press the water dispenser button", "D.press the button horizontally" ] }, { "task_id": "0003735", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0006_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker to the left, B.turn on the power strip by pressing the button, C.swat with a flyswatter, D.place the spoon inside the mug], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003735.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker to the left", "B.turn on the power strip by pressing the button", "C.swat with a flyswatter", "D.place the spoon inside the mug" ] }, { "task_id": "0003736", "task": "TrajChoice", "id": "RH20T_cfg2_task_0051_user_0013_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.open a box, B.take the dish off the dish rack and place it on the table, C.use the towel to wipe the counter, D.move the towel to the left] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003736.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open a box", "B.take the dish off the dish rack and place it on the table", "C.use the towel to wipe the counter", "D.move the towel to the left" ] }, { "task_id": "0003737", "task": "TrajChoice", "id": "RH20T_cfg4_task_0035_user_0016_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.rotate the tap nozzle clockwise, B.move the small block from the left side of the cardboard to above the black dot on the cardboard, C.shove the cloth into the box, D.put the paper bowl from the box on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003737.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the tap nozzle clockwise", "B.move the small block from the left side of the cardboard to above the black dot on the cardboard", "C.shove the cloth into the box", "D.put the paper bowl from the box on the table" ] }, { "task_id": "0003738", "task": "TrajChoice", "id": "RH20T_cfg3_task_0010_user_0011_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the laptop, B.put the remote control in the middle of the cushion, C.place the handset of the telephone on the corresponding phone cradle, D.put the cheese crackers in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003738.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the laptop", "B.put the remote control in the middle of the cushion", "C.place the handset of the telephone on the corresponding phone cradle", "D.put the cheese crackers in the sink" ] }, { "task_id": "0003739", "task": "TrajChoice", "id": "RH20T_cfg4_task_0102_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the clothes rack on the countertop, B.transfer the glue stick from the yellow cup to the right side of the table, C.close the overhead cabinet door, D.scrubbing the table with a brush], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003739.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the clothes rack on the countertop", "B.transfer the glue stick from the yellow cup to the right side of the table", "C.close the overhead cabinet door", "D.scrubbing the table with a brush" ] }, { "task_id": "0003740", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.push the lever of the toaster down, B.insert the pencil into the pencil sharpener, C.take the roll of paper down from the shelf, D.fold the towel] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003740.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the lever of the toaster down", "B.insert the pencil into the pencil sharpener", "C.take the roll of paper down from the shelf", "D.fold the towel" ] }, { "task_id": "0003741", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0015_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up and place an object with obstacles, B.the key pressed on the keyboard, C.place the storage ring into the storage box, D.remove the marker from the silver pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003741.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up and place an object with obstacles", "B.the key pressed on the keyboard", "C.place the storage ring into the storage box", "D.remove the marker from the silver pot" ] }, { "task_id": "0003742", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.stirring a wooden spatula in the pot, B.take a bottle from the tray and put it on the purple mat, C.take a tissue paper from the tissue box and put it on the table, D.turn the knob to decrease the volume of the speaker] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003742.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stirring a wooden spatula in the pot", "B.take a bottle from the tray and put it on the purple mat", "C.take a tissue paper from the tissue box and put it on the table", "D.turn the knob to decrease the volume of the speaker" ] }, { "task_id": "0003743", "task": "TrajChoice", "id": "RH20T_cfg4_task_0088_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.push the faucet handle forward, B.take the shoes on the second layer of the shoe rack to the first layer of the shoe rack, C.open a box, D.pick up the block], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003743.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the faucet handle forward", "B.take the shoes on the second layer of the shoe rack to the first layer of the shoe rack", "C.open a box", "D.pick up the block" ] }, { "task_id": "0003744", "task": "TrajChoice", "id": "RH20T_cfg4_task_0101_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take the cup off the cup rack, B.clean the table with a cloth, C.drop a coin into a piggy bank, D.transfer the remote control from the cloth mat to the countertop] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003744.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.clean the table with a cloth", "C.drop a coin into a piggy bank", "D.transfer the remote control from the cloth mat to the countertop" ] }, { "task_id": "0003745", "task": "TrajChoice", "id": "RH20T_cfg4_task_0210_user_0014_scene_0007_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.take the pen out of the brown cup, B.wipe the bed with a napkin, C.pick up the cup and place it in the bowl, D.chop the onions] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003745.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the pen out of the brown cup", "B.wipe the bed with a napkin", "C.pick up the cup and place it in the bowl", "D.chop the onions" ] }, { "task_id": "0003746", "task": "TrajChoice", "id": "RH20T_cfg6_task_0044_user_0020_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the shaker in the pot, B.pick up a bag of things, C.place the white spray can inside the open drawer, D.put the object into the bowl] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003746.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the shaker in the pot", "B.pick up a bag of things", "C.place the white spray can inside the open drawer", "D.put the object into the bowl" ] }, { "task_id": "0003747", "task": "TrajChoice", "id": "RH20T_cfg5_task_0047_user_0007_scene_0002_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the cup off the cup rack, B.move the yellow block forward, C.pick up the mug on the left, then place it under the running faucet, and finally place it on the right side of the countertop, D.put the yellow cable on the storage box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003747.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the cup off the cup rack", "B.move the yellow block forward", "C.pick up the mug on the left, then place it under the running faucet, and finally place it on the right side of the countertop", "D.put the yellow cable on the storage box" ] }, { "task_id": "0003748", "task": "TrajChoice", "id": "RH20T_cfg5_task_0001_user_0020_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.press the button, B.move the bin closer to the small wooden crate, C.put the coke bottle on the top of the microwave, D.place the eyeglass case on the armrest of the couch] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003748.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button", "B.move the bin closer to the small wooden crate", "C.put the coke bottle on the top of the microwave", "D.place the eyeglass case on the armrest of the couch" ] }, { "task_id": "0003749", "task": "TrajChoice", "id": "RH20T_cfg4_task_0042_user_0014_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the lid on the instrument, B.putting the lid on the jar (needs to be twisted), C.pull the black tape to the left, D.turn the knob on the machine clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003749.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the lid on the instrument", "B.putting the lid on the jar (needs to be twisted)", "C.pull the black tape to the left", "D.turn the knob on the machine clockwise" ] }, { "task_id": "0003750", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.press the microwave button, B.rotate the faucet counterclockwise, C.put the marker on the table, D.rotate the steering wheel 90 degrees clockwise], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003750.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the microwave button", "B.rotate the faucet counterclockwise", "C.put the marker on the table", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0003751", "task": "TrajChoice", "id": "RH20T_cfg3_task_0085_user_0010_scene_0006_cfg_0003_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.remove the bubble ring from the assembled bubble ring and ball, B.open the drawer, take out the fruit toy, place it in the basket, and then close the drawer, C.place the marker on the table, D.take the marker from the table and place it in the jar] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003751.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the bubble ring from the assembled bubble ring and ball", "B.open the drawer, take out the fruit toy, place it in the basket, and then close the drawer", "C.place the marker on the table", "D.take the marker from the table and place it in the jar" ] }, { "task_id": "0003752", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.take the roll of paper down from the shelf, B.take the lid off the wok and put it on the counter, C.put the scissors on the clear lid, D.pick up the green object from the counter and put it in the sink], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003752.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.take the lid off the wok and put it on the counter", "C.put the scissors on the clear lid", "D.pick up the green object from the counter and put it in the sink" ] }, { "task_id": "0003753", "task": "TrajChoice", "id": "RH20T_cfg6_task_0008_user_0014_scene_0002_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the black object on the desk to the right, B.grab the block and place it at the designated location, C.put the marker in the mug, D.put the cube on the shelf], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003753.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the black object on the desk to the right", "B.grab the block and place it at the designated location", "C.put the marker in the mug", "D.put the cube on the shelf" ] }, { "task_id": "0003754", "task": "TrajChoice", "id": "RH20T_cfg4_task_0032_user_0016_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker in the mug, B.transfer the candies from the desktop into the paper cup, C.slide the outer casing onto the gift box, D.put the fork in the cutlery stand] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003754.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.transfer the candies from the desktop into the paper cup", "C.slide the outer casing onto the gift box", "D.put the fork in the cutlery stand" ] }, { "task_id": "0003755", "task": "TrajChoice", "id": "RH20T_cfg3_task_0026_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.open the book, B.use the gripper to push and close the drawer, C.turn on the light, D.throw the paper in the trash], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003755.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the book", "B.use the gripper to push and close the drawer", "C.turn on the light", "D.throw the paper in the trash" ] }, { "task_id": "0003756", "task": "TrajChoice", "id": "RH20T_cfg6_task_0079_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the marker from the bowl and place it on the table, B.put the blocks on the blocks, C.grab the block and place it at the designated location, D.open the microwave door], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003756.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the marker from the bowl and place it on the table", "B.put the blocks on the blocks", "C.grab the block and place it at the designated location", "D.open the microwave door" ] }, { "task_id": "0003757", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0006_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the finished tube from the basket, B.put the marker in the cup, C.put the object on the top of the cabinet, D.pick up the small block on the left and move it to the right], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003757.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the finished tube from the basket", "B.put the marker in the cup", "C.put the object on the top of the cabinet", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0003758", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0007_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.remove a white plate from the countertop and place it on the left side of the dishwasher rack, B.moving the cup from the left side of the table to the right side of the table, C.put the pen in the cup, D.rotate the steering wheel 90 degrees clockwise], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003758.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove a white plate from the countertop and place it on the left side of the dishwasher rack", "B.moving the cup from the left side of the table to the right side of the table", "C.put the pen in the cup", "D.rotate the steering wheel 90 degrees clockwise" ] }, { "task_id": "0003759", "task": "TrajChoice", "id": "RH20T_cfg1_task_0028_user_0001_scene_0005_cfg_0001_039422060546#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.pick up the lid from the table and put it on the pot, B.move the cup from the sink to the table, C.put the marker in the black cup, D.push the drawer to the closed position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003759.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the lid from the table and put it on the pot", "B.move the cup from the sink to the table", "C.put the marker in the black cup", "D.push the drawer to the closed position" ] }, { "task_id": "0003760", "task": "TrajChoice", "id": "RH20T_cfg2_task_0064_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.take the roll of paper down from the shelf, B.slide the towel to the left, C.grab an object from the table and place it into the plate, D.remove the t-shirt from the chair and put it on the couch], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003760.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.slide the towel to the left", "C.grab an object from the table and place it into the plate", "D.remove the t-shirt from the chair and put it on the couch" ] }, { "task_id": "0003761", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the block above the block to the top of the block, B.push the plate back on the desk, C.pull out a napkin, D.put the packaging bag into the bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003761.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the block above the block to the top of the block", "B.push the plate back on the desk", "C.pull out a napkin", "D.put the packaging bag into the bowl" ] }, { "task_id": "0003762", "task": "TrajChoice", "id": "RH20T_cfg7_task_0047_user_0020_scene_0009_cfg_0007_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.use a towel to wipe the tabletop, B.push the block on the table, C.take the cup off the cup rack, D.pick up the towel and fold it] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003762.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.use a towel to wipe the tabletop", "B.push the block on the table", "C.take the cup off the cup rack", "D.pick up the towel and fold it" ] }, { "task_id": "0003763", "task": "TrajChoice", "id": "RH20T_cfg4_task_0014_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the marker from the mug cup and place it on the table, B.put the black t-shirt on the backrest of the grey chair, C.remove the object from the scale, D.take the clothes on the table to the chair] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003763.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug cup and place it on the table", "B.put the black t-shirt on the backrest of the grey chair", "C.remove the object from the scale", "D.take the clothes on the table to the chair" ] }, { "task_id": "0003764", "task": "TrajChoice", "id": "RH20T_cfg5_task_0024_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.turn off the power strip by pressing the button, B.pick up the fork from the drying rack and put it on the table, C.turn off the desk lamp, D.put the pen into the pen holder], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003764.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.pick up the fork from the drying rack and put it on the table", "C.turn off the desk lamp", "D.put the pen into the pen holder" ] }, { "task_id": "0003765", "task": "TrajChoice", "id": "RH20T_cfg5_task_0034_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker in the pot, B.stack the squares into a pyramid shape, C.turn on the desk lamp by pressing the button, D.open the drawer and take the item, close the drawer] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003765.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the pot", "B.stack the squares into a pyramid shape", "C.turn on the desk lamp by pressing the button", "D.open the drawer and take the item, close the drawer" ] }, { "task_id": "0003766", "task": "TrajChoice", "id": "RH20T_cfg5_task_0034_user_0007_scene_0003_cfg_0005_104122063678#340", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.open the white lid, B.stack the squares into a pyramid shape, C.installing the light bulb by rotating it, D.pick up the pen from the red cup and put it on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003766.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the white lid", "B.stack the squares into a pyramid shape", "C.installing the light bulb by rotating it", "D.pick up the pen from the red cup and put it on the table" ] }, { "task_id": "0003767", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the pencil to the right, B.put the marker in the grey bowl, C.remove an orange straw pack from the drawer and put it on the tray, D.rotate the steering wheel clockwise] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003767.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the pencil to the right", "B.put the marker in the grey bowl", "C.remove an orange straw pack from the drawer and put it on the tray", "D.rotate the steering wheel clockwise" ] }, { "task_id": "0003768", "task": "TrajChoice", "id": "RH20T_cfg5_task_0012_user_0007_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.take the black ladle out of the glass jar, B.push the soccer ball into the goal, C.pick up the yellow plastic and put it in the bag, D.put the blue lid on the blue bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003768.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the black ladle out of the glass jar", "B.push the soccer ball into the goal", "C.pick up the yellow plastic and put it in the bag", "D.put the blue lid on the blue bowl" ] }, { "task_id": "0003769", "task": "TrajChoice", "id": "RH20T_cfg4_task_0070_user_0015_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.remove the marker from the mug, B.push the faucet to the left, use the sponge in the sink to wipe the sink, C.put the pen in the cup, D.open a sliding window], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003769.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the marker from the mug", "B.push the faucet to the left, use the sponge in the sink to wipe the sink", "C.put the pen in the cup", "D.open a sliding window" ] }, { "task_id": "0003770", "task": "TrajChoice", "id": "RH20T_cfg6_task_0018_user_0014_scene_0009_cfg_0006_104122063633#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.open the tap, B.open the bottom drawer of the file cabinet on the right, C.play jenga, D.remove the black lid from the grey pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003770.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the tap", "B.open the bottom drawer of the file cabinet on the right", "C.play jenga", "D.remove the black lid from the grey pot" ] }, { "task_id": "0003771", "task": "TrajChoice", "id": "RH20T_cfg4_task_0109_user_0015_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.pick up the bar-shaped object from the sink and put it on the countertop, B.move the stapler to the left of the table, C.push the basketball to the right, D.insert the pencil into the pencil sharpener] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003771.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the bar-shaped object from the sink and put it on the countertop", "B.move the stapler to the left of the table", "C.push the basketball to the right", "D.insert the pencil into the pencil sharpener" ] }, { "task_id": "0003772", "task": "TrajChoice", "id": "RH20T_cfg2_task_0054_user_0007_scene_0019_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the lid off the bottle and put it on the table, B.put the block on the block, C.put the candy into the white cup, D.grasping the moving object], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003772.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the lid off the bottle and put it on the table", "B.put the block on the block", "C.put the candy into the white cup", "D.grasping the moving object" ] }, { "task_id": "0003773", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pull up the lever, B.close the kitchen drawer, C.press the piano key, D.open the bottom drawer of the cabinet to the right], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003773.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull up the lever", "B.close the kitchen drawer", "C.press the piano key", "D.open the bottom drawer of the cabinet to the right" ] }, { "task_id": "0003774", "task": "TrajChoice", "id": "RH20T_cfg4_task_0085_user_0007_scene_0006_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.close the drawer, B.remove the bubble ring from the assembled bubble ring and ball, C.move the chess piece, D.put the object on the table to the right of the towel], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003774.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer", "B.remove the bubble ring from the assembled bubble ring and ball", "C.move the chess piece", "D.put the object on the table to the right of the towel" ] }, { "task_id": "0003775", "task": "TrajChoice", "id": "RH20T_cfg3_task_0092_user_0010_scene_0005_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the glue stick in the mug on the metal thing, B.move the black bottle to the specified position, C.put the object on the green building block, D.turn the hands of a clock], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003775.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the glue stick in the mug on the metal thing", "B.move the black bottle to the specified position", "C.put the object on the green building block", "D.turn the hands of a clock" ] }, { "task_id": "0003776", "task": "TrajChoice", "id": "RH20T_cfg6_task_0073_user_0020_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the remote control on the outside of the sofa, B.pour the contents of the spoon into the plastic box, C.open the drawer, put things in the drawer and then close the drawer, D.wipe the black object with the towel and put the towel in the plate], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003776.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the remote control on the outside of the sofa", "B.pour the contents of the spoon into the plastic box", "C.open the drawer, put things in the drawer and then close the drawer", "D.wipe the black object with the towel and put the towel in the plate" ] }, { "task_id": "0003777", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.drag the plate to the goal post after holding it down, B.pick up a small block, C.attach the orange disc to the rod on the wooden rack, D.play the drum] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003777.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.drag the plate to the goal post after holding it down", "B.pick up a small block", "C.attach the orange disc to the rod on the wooden rack", "D.play the drum" ] }, { "task_id": "0003778", "task": "TrajChoice", "id": "RH20T_cfg1_task_0021_user_0012_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.transfer the jar and the can to the tray, B.remove the bowl from the top of the microwave and place it on top of the air fryer, C.open the chamber of the coffeemaker, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003778.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the jar and the can to the tray", "B.remove the bowl from the top of the microwave and place it on top of the air fryer", "C.open the chamber of the coffeemaker", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003779", "task": "TrajChoice", "id": "RH20T_cfg1_task_0124_user_0014_scene_0010_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push down the lever, B.put the black cup on the cup, C.put the clothes on the bed, D.wiping the wall and the glass ], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003779.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push down the lever", "B.put the black cup on the cup", "C.put the clothes on the bed", "D.wiping the wall and the glass " ] }, { "task_id": "0003780", "task": "TrajChoice", "id": "RH20T_cfg2_task_0075_user_0014_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.finish setting up the starting position of a chessboard that is almost arranged, B.open the right door of the top cabinet, C.remove the smaller towel from the hamper and put it on the armrest, D.pressing the light switch], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003780.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.finish setting up the starting position of a chessboard that is almost arranged", "B.open the right door of the top cabinet", "C.remove the smaller towel from the hamper and put it on the armrest", "D.pressing the light switch" ] }, { "task_id": "0003781", "task": "TrajChoice", "id": "RH20T_cfg2_task_0013_user_0003_scene_0009_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the white blanket in the white basket, B.place the block on the scale, C.pull out a napkin, D.put the toy in the green bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003781.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the white blanket in the white basket", "B.place the block on the scale", "C.pull out a napkin", "D.put the toy in the green bowl" ] }, { "task_id": "0003782", "task": "TrajChoice", "id": "RH20T_cfg3_task_0041_user_0010_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.stack the right plate in the left plate, B.rotate the faucet counterclockwise, C.wipe the stains on the tabletop with a sponge, D.turn off the desk lamp by pressing the button] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003782.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the right plate in the left plate", "B.rotate the faucet counterclockwise", "C.wipe the stains on the tabletop with a sponge", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003783", "task": "TrajChoice", "id": "RH20T_cfg4_task_0217_user_0014_scene_0002_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.plug in the bulb holder to the socket, B.remove the yellow block from the stack and place it on top of the green block on the right, C.pull out a napkin and place it on the table, D.take the cup out of the other cup and put the cup in the other cup], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003783.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.plug in the bulb holder to the socket", "B.remove the yellow block from the stack and place it on top of the green block on the right", "C.pull out a napkin and place it on the table", "D.take the cup out of the other cup and put the cup in the other cup" ] }, { "task_id": "0003784", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.move the faucet spout to the left, B.push the soccer ball into the goal, C.pick up a sachet from the shelf and put it on the table, D.put the lid on the pot] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003784.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the faucet spout to the left", "B.push the soccer ball into the goal", "C.pick up a sachet from the shelf and put it on the table", "D.put the lid on the pot" ] }, { "task_id": "0003785", "task": "TrajChoice", "id": "RH20T_cfg2_task_0004_user_0002_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.turn on the switch of the first slot of the adapter, B.move the bowl on the left countertop to the right side of the table, C.grab the speaker, D.pick up the small block on the left and move it to the right] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003785.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the switch of the first slot of the adapter", "B.move the bowl on the left countertop to the right side of the table", "C.grab the speaker", "D.pick up the small block on the left and move it to the right" ] }, { "task_id": "0003786", "task": "TrajChoice", "id": "RH20T_cfg4_task_0201_user_0010_scene_0009_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker in the mug, B.put the blue block inside the open drawer and close the drawer, C.move the silver object to the right, D.insert a tip of a pipette into the holder for pipette tips] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003786.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.put the blue block inside the open drawer and close the drawer", "C.move the silver object to the right", "D.insert a tip of a pipette into the holder for pipette tips" ] }, { "task_id": "0003787", "task": "TrajChoice", "id": "RH20T_cfg3_task_0012_user_0010_scene_0007_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.move the sharpie from the table to the green bowl, B.close the drawer, C.push the soccer ball into the goal, D.open the garbage can lid] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003787.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the sharpie from the table to the green bowl", "B.close the drawer", "C.push the soccer ball into the goal", "D.open the garbage can lid" ] }, { "task_id": "0003788", "task": "TrajChoice", "id": "RH20T_cfg4_task_0094_user_0015_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.after wiping the tissue in the bowl, throw it into the bin, B.spread the grey cloth on the table, C.open a box, D.the folding tablecloth], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003788.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.after wiping the tissue in the bowl, throw it into the bin", "B.spread the grey cloth on the table", "C.open a box", "D.the folding tablecloth" ] }, { "task_id": "0003789", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0010_scene_0010_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.close the drawer fully, B.put the cup on the cup rack, C.right click the black computer mouse, D.turn off the water tap], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003789.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the drawer fully", "B.put the cup on the cup rack", "C.right click the black computer mouse", "D.turn off the water tap" ] }, { "task_id": "0003790", "task": "TrajChoice", "id": "RH20T_cfg3_task_0062_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the toilet paper on its holder, B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb, C.remove the silver spoon from the food pack then move the coffee cup to the left, D.put the bottle on the table to the left of the stove], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003790.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the toilet paper on its holder", "B.plug in the bulb holder with a bulb to the socket and turn on the switch of the bulb", "C.remove the silver spoon from the food pack then move the coffee cup to the left", "D.put the bottle on the table to the left of the stove" ] }, { "task_id": "0003791", "task": "TrajChoice", "id": "RH20T_cfg5_task_0035_user_0007_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.close the tap, B.put the pen from the box into the pen holder, C.transfer the lid from the black pot to the blue pot, D.pick up a small block from above the table and move it to the middle of the table] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003791.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.close the tap", "B.put the pen from the box into the pen holder", "C.transfer the lid from the black pot to the blue pot", "D.pick up a small block from above the table and move it to the middle of the table" ] }, { "task_id": "0003792", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.move the cup from the table to the bowl, B.place the block on the scale, C.put the black spatula in the sink, D.move the clothes to the left side of the bed] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003792.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the cup from the table to the bowl", "B.place the block on the scale", "C.put the black spatula in the sink", "D.move the clothes to the left side of the bed" ] }, { "task_id": "0003793", "task": "TrajChoice", "id": "RH20T_cfg6_task_0041_user_0014_scene_0009_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the roll of paper down from the shelf, B.clean the tabletop with a sponge, C.take the orange tool from the brown shelf and put it in the cup, D.open the drawer], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003793.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the roll of paper down from the shelf", "B.clean the tabletop with a sponge", "C.take the orange tool from the brown shelf and put it in the cup", "D.open the drawer" ] }, { "task_id": "0003794", "task": "TrajChoice", "id": "RH20T_cfg4_task_0013_user_0007_scene_0002_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the silver marker in the silver pot, B.take the power strip from the desktop and place it on the scale, C.turn the cup around, D.take the lid off of the plastic container], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003794.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the silver marker in the silver pot", "B.take the power strip from the desktop and place it on the scale", "C.turn the cup around", "D.take the lid off of the plastic container" ] }, { "task_id": "0003795", "task": "TrajChoice", "id": "RH20T_cfg3_task_0064_user_0010_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.move the bottle from the left side of the table to the right side of the table, B.separate the three overlapping plates, C.take the roll of paper down from the shelf, D.place the block on the scale], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003795.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bottle from the left side of the table to the right side of the table", "B.separate the three overlapping plates", "C.take the roll of paper down from the shelf", "D.place the block on the scale" ] }, { "task_id": "0003796", "task": "TrajChoice", "id": "RH20T_cfg6_task_0010_user_0014_scene_0004_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.place the handset of the telephone on the corresponding phone cradle, B.put the balls into the bowl, C.pull the striker rod on the foosball table, D.finish setting up the starting position of a chessboard that is almost arranged] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003796.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the handset of the telephone on the corresponding phone cradle", "B.put the balls into the bowl", "C.pull the striker rod on the foosball table", "D.finish setting up the starting position of a chessboard that is almost arranged" ] }, { "task_id": "0003797", "task": "TrajChoice", "id": "RH20T_cfg4_task_0023_user_0014_scene_0010_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.turn on the power strip by pressing the button, B.installing the light bulb by rotating it, C.pull the tap of the sink to the left, D.put the black bowl inside the bowl] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003797.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the power strip by pressing the button", "B.installing the light bulb by rotating it", "C.pull the tap of the sink to the left", "D.put the black bowl inside the bowl" ] }, { "task_id": "0003798", "task": "TrajChoice", "id": "RH20T_cfg2_task_0028_user_0006_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.place the bowl on the lower shelf, B.put the spoon into the bowl, C.move the yellow block to the middle of the table, D.push the drawer to close], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003798.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.place the bowl on the lower shelf", "B.put the spoon into the bowl", "C.move the yellow block to the middle of the table", "D.push the drawer to close" ] }, { "task_id": "0003799", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0009_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.slide the small block to the dot on the table, B.stack the cups on the desk, C.take the clothes out of the box and place them on the table, put the clothes from the table into the bag, D.move the pot on the stove slightly inward] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003799.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.slide the small block to the dot on the table", "B.stack the cups on the desk", "C.take the clothes out of the box and place them on the table, put the clothes from the table into the bag", "D.move the pot on the stove slightly inward" ] }, { "task_id": "0003800", "task": "TrajChoice", "id": "RH20T_cfg6_task_0104_user_0014_scene_0006_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.blackboard eraser, B.put the tube on the left side of the table, C.close the chamber of the coffee machine, D.pull the white disc out of the goal], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003800.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.blackboard eraser", "B.put the tube on the left side of the table", "C.close the chamber of the coffee machine", "D.pull the white disc out of the goal" ] }, { "task_id": "0003801", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.press the button horizontally, B.turn off the water tap, C.slide the cloth to the center of the table, D.take the lid off of the pot and put it on the table] ? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003801.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button horizontally", "B.turn off the water tap", "C.slide the cloth to the center of the table", "D.take the lid off of the pot and put it on the table" ] }, { "task_id": "0003802", "task": "TrajChoice", "id": "RH20T_cfg4_task_0086_user_0007_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.dial a number on an old rotary phone, B.put the spice bottle into the metal bowl, C.put the block into the basket on top of the block, D.move the faucet to the right] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003802.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.dial a number on an old rotary phone", "B.put the spice bottle into the metal bowl", "C.put the block into the basket on top of the block", "D.move the faucet to the right" ] }, { "task_id": "0003803", "task": "TrajChoice", "id": "RH20T_cfg2_task_0128_user_0007_scene_0002_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the orange marker inside the green mug, B.open the cabinet door, C.put the yellow block into the cup, D.plug in the usb drive to the docking station] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003803.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the orange marker inside the green mug", "B.open the cabinet door", "C.put the yellow block into the cup", "D.plug in the usb drive to the docking station" ] }, { "task_id": "0003804", "task": "TrajChoice", "id": "RH20T_cfg2_task_0009_user_0003_scene_0003_cfg_0002_104122061850#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.transfer the cup from the coffee machine to the countertop, B.take out a Hanoi block and throw it aside, C.place the box upright on the table, D.pick up the pen from the table and put it in the grey bowl], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003804.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the cup from the coffee machine to the countertop", "B.take out a Hanoi block and throw it aside", "C.place the box upright on the table", "D.pick up the pen from the table and put it in the grey bowl" ] }, { "task_id": "0003805", "task": "TrajChoice", "id": "RH20T_cfg5_task_0025_user_0010_scene_0009_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.unhang the cloth from the stand, B.unfold a piece of paper that has been folded once with one end pressed down by a weight, C.put the bottle in the plastic bag, D.place the block on the scale], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003805.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.unhang the cloth from the stand", "B.unfold a piece of paper that has been folded once with one end pressed down by a weight", "C.put the bottle in the plastic bag", "D.place the block on the scale" ] }, { "task_id": "0003806", "task": "TrajChoice", "id": "RH20T_cfg5_task_0084_user_0007_scene_0001_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.the cloth on the folding table, B.move the bowl forward, C.assemble: attach the bubble ring to the ball, D.pull the object to the left] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003806.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.the cloth on the folding table", "B.move the bowl forward", "C.assemble: attach the bubble ring to the ball", "D.pull the object to the left" ] }, { "task_id": "0003809", "task": "TrajChoice", "id": "RH20T_cfg4_task_0093_user_0014_scene_0003_cfg_0004_038522062288#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.take the wooden block from the desk and put it inside the drawer, then close the drawer, B.put the photo frame on the bracket, C.put the orange on the wooden rack, D.place the plastic purple grapes inside the white bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003809.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the wooden block from the desk and put it inside the drawer, then close the drawer", "B.put the photo frame on the bracket", "C.put the orange on the wooden rack", "D.place the plastic purple grapes inside the white bowl" ] }, { "task_id": "0003810", "task": "TrajChoice", "id": "RH20T_cfg4_task_0105_user_0015_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.put the small pot on the black pot, B.pick up the cube on the surface, C.put the marker into the green cup, D.press the kettle button to open the lid and close it, repeat this twice], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003810.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the small pot on the black pot", "B.pick up the cube on the surface", "C.put the marker into the green cup", "D.press the kettle button to open the lid and close it, repeat this twice" ] }, { "task_id": "0003811", "task": "TrajChoice", "id": "RH20T_cfg2_task_0007_user_0013_scene_0005_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.sliding a small block on the table, B.pick up the marker from the table and put it in the glass, C.drag the plate to the goal post after holding it down, D.put the green object in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003811.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.sliding a small block on the table", "B.pick up the marker from the table and put it in the glass", "C.drag the plate to the goal post after holding it down", "D.put the green object in the bowl" ] }, { "task_id": "0003812", "task": "TrajChoice", "id": "RH20T_cfg3_task_0021_user_0011_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.turn off the desk lamp by pressing the button, B.remove the marker from the mug and place it on the seat, C.remove a bottle from the tray and place it on the table, D.place the red bowl on the top shelf], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003812.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the desk lamp by pressing the button", "B.remove the marker from the mug and place it on the seat", "C.remove a bottle from the tray and place it on the table", "D.place the red bowl on the top shelf" ] }, { "task_id": "0003814", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0004_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.transfer the bowl from the microwave to the table, B.grasp a small block to sweep another small block into the designated position, C.press a button from top to bottom with obstacles, D.put the yellow block in the cup] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003814.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.transfer the bowl from the microwave to the table", "B.grasp a small block to sweep another small block into the designated position", "C.press a button from top to bottom with obstacles", "D.put the yellow block in the cup" ] }, { "task_id": "0003815", "task": "TrajChoice", "id": "RH20T_cfg5_task_0048_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.rotate the steering wheel 90 degrees clockwise, B.moving the jar from the countertop to the bowl, C.play the drum, D.close the drawer], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003815.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.rotate the steering wheel 90 degrees clockwise", "B.moving the jar from the countertop to the bowl", "C.play the drum", "D.close the drawer" ] }, { "task_id": "0003816", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.stack the cups in the order of yellow, blue, and orange, B.throw the black soft magic cube onto the table, C.put the drumsticks on the drum, D.cover the gift box lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003816.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.stack the cups in the order of yellow, blue, and orange", "B.throw the black soft magic cube onto the table", "C.put the drumsticks on the drum", "D.cover the gift box lid" ] }, { "task_id": "0003817", "task": "TrajChoice", "id": "RH20T_cfg4_task_0125_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pulling up the lever, B.push the water tap handle to the right, C.put the tape on the white plate, D.put the grey masking tape inside the black bowl], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003817.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pulling up the lever", "B.push the water tap handle to the right", "C.put the tape on the white plate", "D.put the grey masking tape inside the black bowl" ] }, { "task_id": "0003818", "task": "TrajChoice", "id": "RH20T_cfg6_task_0013_user_0014_scene_0001_cfg_0006_104122064161#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.remove the cup from the drying rack and put it in the sink, B.pour the contents of the bag into the box, C.place the block on the scale, D.put the clothes hangers on the upper drying rod], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003818.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the cup from the drying rack and put it in the sink", "B.pour the contents of the bag into the box", "C.place the block on the scale", "D.put the clothes hangers on the upper drying rod" ] }, { "task_id": "0003819", "task": "TrajChoice", "id": "RH20T_cfg5_task_0119_user_0007_scene_0004_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the water tap, B.put the toy on the surface, C.put the purple object on the black tray, D.put the black cable in the gray box], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003819.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the water tap", "B.put the toy on the surface", "C.put the purple object on the black tray", "D.put the black cable in the gray box" ] }, { "task_id": "0003820", "task": "TrajChoice", "id": "RH20T_cfg3_task_0024_user_0010_scene_0006_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.turn off the power strip by pressing the button, B.put the black marker in the mug, C.pour the contents of the cup into the bowl, D.pull the door on the right side of the cabinet to the open position], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003820.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn off the power strip by pressing the button", "B.put the black marker in the mug", "C.pour the contents of the cup into the bowl", "D.pull the door on the right side of the cabinet to the open position" ] }, { "task_id": "0003821", "task": "TrajChoice", "id": "RH20T_cfg4_task_0083_user_0007_scene_0010_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.swat with a flyswatter, B.remove the white towel from the black stand, C.remove the marker from the cup and put it on the box, D.stir the contents of the bowl with a spoon] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003821.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.swat with a flyswatter", "B.remove the white towel from the black stand", "C.remove the marker from the cup and put it on the box", "D.stir the contents of the bowl with a spoon" ] }, { "task_id": "0003822", "task": "TrajChoice", "id": "RH20T_cfg4_task_0104_user_0007_scene_0003_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image features gradient-colored trajectories, with green indicating the start and red showing the end. The trajectory represents the path the gripper should take to complete a designated task. Among the choices [A.put the bottle in the right pot, B.press the water dispenser button, C.put the fabric and the object into the bag, D.push the plate on the table], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003822.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the bottle in the right pot", "B.press the water dispenser button", "C.put the fabric and the object into the bag", "D.push the plate on the table" ] }, { "task_id": "0003823", "task": "TrajChoice", "id": "RH20T_cfg2_task_0035_user_0007_scene_0005_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the rope on the hanger, B.press the button on the game controller, C.put the small ball on the big ball on the desk, D.pick up a small block] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003823.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the rope on the hanger", "B.press the button on the game controller", "C.put the small ball on the big ball on the desk", "D.pick up a small block" ] }, { "task_id": "0003824", "task": "TrajChoice", "id": "RH20T_cfg4_task_0077_user_0015_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.pull the bowl to the right, B.stacking blocks (small Lego) randomly one at a time, C.put the rope on the table, D.move the cup to the right side of the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003824.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pull the bowl to the right", "B.stacking blocks (small Lego) randomly one at a time", "C.put the rope on the table", "D.move the cup to the right side of the table" ] }, { "task_id": "0003825", "task": "TrajChoice", "id": "RH20T_cfg5_task_0046_user_0010_scene_0005_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the block into the storage basket, B.use the silver utensil to stir the contents of the plate, C.put the cup on the cup rack, D.pull out a napkin], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003825.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the block into the storage basket", "B.use the silver utensil to stir the contents of the plate", "C.put the cup on the cup rack", "D.pull out a napkin" ] }, { "task_id": "0003827", "task": "TrajChoice", "id": "RH20T_cfg2_task_0015_user_0006_scene_0007_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the building blocks on the table, B.unfold the shirt, C.pick up the lid off the pan on the stove and put it on the countertop, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003827.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the building blocks on the table", "B.unfold the shirt", "C.pick up the lid off the pan on the stove and put it on the countertop", "D.play the drum" ] }, { "task_id": "0003828", "task": "TrajChoice", "id": "RH20T_cfg4_task_0018_user_0016_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.remove the green plush toy from the right plate on the stove, B.pull the blocks, C.put the transparent box on the oven, D.put the yellow pen in the white mug] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003828.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the green plush toy from the right plate on the stove", "B.pull the blocks", "C.put the transparent box on the oven", "D.put the yellow pen in the white mug" ] }, { "task_id": "0003829", "task": "TrajChoice", "id": "RH20T_cfg2_task_0014_user_0003_scene_0006_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.press the button on the coffee machine, B.put the marker into the mug, C.remove the object from the scale, D.place the box in the white box on the couch] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003829.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.press the button on the coffee machine", "B.put the marker into the mug", "C.remove the object from the scale", "D.place the box in the white box on the couch" ] }, { "task_id": "0003830", "task": "TrajChoice", "id": "RH20T_cfg4_task_0120_user_0007_scene_0008_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.grab a basketball, release it and shoot it into the basket, B.take the bottle off the table and put it on the tray, C.wipe the countertop with a rag, D.installing the light bulb by rotating it], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003830.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.grab a basketball, release it and shoot it into the basket", "B.take the bottle off the table and put it on the tray", "C.wipe the countertop with a rag", "D.installing the light bulb by rotating it" ] }, { "task_id": "0003831", "task": "TrajChoice", "id": "RH20T_cfg3_task_0076_user_0010_scene_0008_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.approach and touch an object with obstacles, B.remove the packaging bag from the outside of the trash can, C.open then close the tap, D.insert the yellow Lego block onto the white Lego block], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003831.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.approach and touch an object with obstacles", "B.remove the packaging bag from the outside of the trash can", "C.open then close the tap", "D.insert the yellow Lego block onto the white Lego block" ] }, { "task_id": "0003832", "task": "TrajChoice", "id": "RH20T_cfg1_task_0121_user_0014_scene_0005_cfg_0001_819112070044#0", "conversations": [ { "from": "human", "value": "\nIn the provided image, gradient-colored trajectories are depicted, where green marks the beginning and red signifies the conclusion. The trajectory indicates the route the gripper needs to follow to execute a certain task. Which of the following options [A.take out the light bulb by rotating it, B.move the mug to the left, C.pick up the hair ribbon and put it in the plastic container, D.take the marker out of the container and put it on the table] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003832.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take out the light bulb by rotating it", "B.move the mug to the left", "C.pick up the hair ribbon and put it in the plastic container", "D.take the marker out of the container and put it on the table" ] }, { "task_id": "0003834", "task": "TrajChoice", "id": "RH20T_cfg4_task_0004_user_0010_scene_0005_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.put the marker in the bowl, B.put the pen into the bowl, C.push the drawer, D.move the small block to the left], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003834.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the bowl", "B.put the pen into the bowl", "C.push the drawer", "D.move the small block to the left" ] }, { "task_id": "0003835", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0011_scene_0004_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.turn on the extension cable, B.press the machine button, C.hit the pool ball, D.put the whey powder packet in the left corner], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003835.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the extension cable", "B.press the machine button", "C.hit the pool ball", "D.put the whey powder packet in the left corner" ] }, { "task_id": "0003836", "task": "TrajChoice", "id": "RH20T_cfg3_task_0035_user_0010_scene_0009_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.turn on the first switch on the left, B.push the lid of the gift box to close the gift box, C.pick up a small block, D.click the mouse] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003836.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.turn on the first switch on the left", "B.push the lid of the gift box to close the gift box", "C.pick up a small block", "D.click the mouse" ] }, { "task_id": "0003837", "task": "TrajChoice", "id": "RH20T_cfg2_task_0126_user_0007_scene_0004_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green marking the start and red indicating the end. The trajectory represents the route the gripper must take to complete a designated task. Among the choices [A.put the purple snack in the sink, B.put the marker in the bowl, C.plug in the power cord to the socket, D.get the marker from the table and place it in the cup], which one best matches the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003837.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the purple snack in the sink", "B.put the marker in the bowl", "C.plug in the power cord to the socket", "D.get the marker from the table and place it in the cup" ] }, { "task_id": "0003838", "task": "TrajChoice", "id": "RH20T_cfg5_task_0222_user_0010_scene_0003_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe provided image shows gradient-colored trajectories, where green represents the beginning and red denotes the conclusion. The trajectory indicates the path the gripper should follow to execute a certain task. Which of the following options [A.put the marker in the mug, B.cover the pot with the lid, C.pour the contents of the orange cup into the bowl, D.pick up the cup and place it in the bowl] best fits the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003838.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.cover the pot with the lid", "C.pour the contents of the orange cup into the bowl", "D.pick up the cup and place it in the bowl" ] }, { "task_id": "0003841", "task": "TrajChoice", "id": "RH20T_cfg2_task_0061_user_0007_scene_0001_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.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, B.put the glass lid on the black pot, C.move the black object to the right side of the sink, D.push the block forward] ? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003841.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.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", "B.put the glass lid on the black pot", "C.move the black object to the right side of the sink", "D.push the block forward" ] }, { "task_id": "0003842", "task": "TrajChoice", "id": "RH20T_cfg2_task_0061_user_0007_scene_0001_cfg_0002_105422061350#364", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the object into the cabinet, B.put the blue block in the drawer, then close the drawer, C.put the plate on the right side of the desk onto the box, D.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] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003842.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the object into the cabinet", "B.put the blue block in the drawer, then close the drawer", "C.put the plate on the right side of the desk onto the box", "D.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" ] }, { "task_id": "0003843", "task": "TrajChoice", "id": "RH20T_cfg5_task_0013_user_0010_scene_0008_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.put the marker in the mug, B.slide the towel on the table, C.place the block on the scale, D.move a pepper from the chopping board to the green plate] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003843.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker in the mug", "B.slide the towel on the table", "C.place the block on the scale", "D.move a pepper from the chopping board to the green plate" ] }, { "task_id": "0003845", "task": "TrajChoice", "id": "RH20T_cfg5_task_0016_user_0010_scene_0007_cfg_0005_104122063678#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.move the bowl backward, B.playing billiards, C.put the elastic around the bottle, D.put the knife on the cutting board], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003845.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.move the bowl backward", "B.playing billiards", "C.put the elastic around the bottle", "D.put the knife on the cutting board" ] }, { "task_id": "0003846", "task": "TrajChoice", "id": "RH20T_cfg3_task_0006_user_0016_scene_0010_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.push the first knob inwards, B.hang the cloth on the stand, C.push the small block from the right position to the left position, D.put the wallet inside the black backpack] ? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003846.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the first knob inwards", "B.hang the cloth on the stand", "C.push the small block from the right position to the left position", "D.put the wallet inside the black backpack" ] }, { "task_id": "0003847", "task": "TrajChoice", "id": "RH20T_cfg4_task_0043_user_0007_scene_0001_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the gray doll in the sink, B.unfold the towel and lay it flat on the countertop, C.unscrewing the lid from the jar, D.cover the lid on the pot], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003847.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the gray doll in the sink", "B.unfold the towel and lay it flat on the countertop", "C.unscrewing the lid from the jar", "D.cover the lid on the pot" ] }, { "task_id": "0003848", "task": "TrajChoice", "id": "RH20T_cfg2_task_0033_user_0003_scene_0008_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.open the lid, B.place the green block on the white table, C.move the white mug to the right side of the table, D.push the block onto the marked point] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003848.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.open the lid", "B.place the green block on the white table", "C.move the white mug to the right side of the table", "D.push the block onto the marked point" ] }, { "task_id": "0003849", "task": "TrajChoice", "id": "RH20T_cfg3_task_0016_user_0011_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nWe provide the image that feature gradient-colored trajectories: green indicates the start of a trajectory, while red marks its end. The trajectory represent the path the gripper needs to take to finish some task. Which task is the best match for the trajectory among the following options: [A.take the marker out of the bowl and put it on the table, B.move the block above the block, C.moving object, D.hit the pool ball] ? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003849.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.take the marker out of the bowl and put it on the table", "B.move the block above the block", "C.moving object", "D.hit the pool ball" ] }, { "task_id": "0003850", "task": "TrajChoice", "id": "RH20T_cfg2_task_0021_user_0003_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.pick up the rectangular prism on the right side of the table, move it to the top of the long cup on the table, and then put it down, B.take the marker from the bowl and put it on the table, C.close the bottom drawer, D.turn off the desk lamp by pressing the button], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003850.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the rectangular prism on the right side of the table, move it to the top of the long cup on the table, and then put it down", "B.take the marker from the bowl and put it on the table", "C.close the bottom drawer", "D.turn off the desk lamp by pressing the button" ] }, { "task_id": "0003852", "task": "TrajChoice", "id": "RH20T_cfg3_task_0015_user_0010_scene_0002_cfg_0003_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.remove the clothing from the armrest of the chair and place it on the sofa, B.put the bottle on the plate, C.hang the tongs on the first white hook from the right, D.play the drum], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "D" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003852.jpg" ], "gt": "D", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.remove the clothing from the armrest of the chair and place it on the sofa", "B.put the bottle on the plate", "C.hang the tongs on the first white hook from the right", "D.play the drum" ] }, { "task_id": "0003853", "task": "TrajChoice", "id": "RH20T_cfg2_task_0060_user_0007_scene_0002_cfg_0002_037522062165#0", "conversations": [ { "from": "human", "value": "\nWe present an image with gradient-colored trajectories, where green highlights the starting point and red marks the endpoint. The trajectory illustrates the path the gripper must follow to accomplish a specific task. Which option among [A.put the marker on the countertop, B.turn the knob to decrease the volume of the speaker, C.move the clothes from the countertop to the hanger, D.open the microwave door] best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003853.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the marker on the countertop", "B.turn the knob to decrease the volume of the speaker", "C.move the clothes from the countertop to the hanger", "D.open the microwave door" ] }, { "task_id": "0003854", "task": "TrajChoice", "id": "RH20T_cfg1_task_0070_user_0001_scene_0006_cfg_0001_038522062547#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.push the soccer ball into the goal, B.remove a fork from the dish rack and put it in the sink, C.open a sliding window, D.close the faucet using the handle on the right], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003854.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.push the soccer ball into the goal", "B.remove a fork from the dish rack and put it in the sink", "C.open a sliding window", "D.close the faucet using the handle on the right" ] }, { "task_id": "0003855", "task": "TrajChoice", "id": "RH20T_cfg2_task_0072_user_0007_scene_0008_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nThe image displays gradient-colored trajectories, with green representing the start and red denoting the end. The trajectory outlines the path the gripper must take to accomplish a particular task. From the choices [A.put the shoes on the top shelf, B.pour some contents of the jug into the red bowl, C.drop coins into a piggy bank, the coins fall onto the table, D.pick up another cup in the cup and place it on the table], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "C" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003855.jpg" ], "gt": "C", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.put the shoes on the top shelf", "B.pour some contents of the jug into the red bowl", "C.drop coins into a piggy bank, the coins fall onto the table", "D.pick up another cup in the cup and place it on the table" ] }, { "task_id": "0003856", "task": "TrajChoice", "id": "RH20T_cfg2_task_0011_user_0013_scene_0003_cfg_0002_105422061350#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are shown, where green signifies the starting point and red indicates the endpoint. The trajectory illustrates the path the gripper should follow to complete a specific task. Among the options [A.water the plant, B.turn the knob to increase the volume of the speaker, C.take the object and put it on the bottle, D.take the brown cup off the shelf, then take the yellow pencil out of the brown cup], which one best corresponds to the trajectory? Please select one option only." }, { "from": "gpt", "value": "A" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003856.jpg" ], "gt": "A", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.water the plant", "B.turn the knob to increase the volume of the speaker", "C.take the object and put it on the bottle", "D.take the brown cup off the shelf, then take the yellow pencil out of the brown cup" ] }, { "task_id": "0003857", "task": "TrajChoice", "id": "RH20T_cfg4_task_0215_user_0014_scene_0004_cfg_0004_104122062823#0", "conversations": [ { "from": "human", "value": "\nIn the image, gradient-colored trajectories are illustrated, with green signifying the start and red indicating the end. The trajectory outlines the route the gripper needs to take to finish a particular task. From the options [A.pick up the handset of the telephone on the table, B.chop the potatoes, C.take the spoon from the bottle and put it on the table, D.place the crumpled paper in the clear bowl then cover the bowl with the orange lid], which one aligns best with the trajectory? Please select one option only." }, { "from": "gpt", "value": "B" } ], "images": [ "Understanding/image/train/rh20t/trajlang_choice/trajlang_choice/rh20t_0003857.jpg" ], "gt": "B", "source": "rh20t", "origin_shape:": [ 360, 640 ], "smart_resize_shape": [ 364, 644 ], "instruction_list": [ "A.pick up the handset of the telephone on the table", "B.chop the potatoes", "C.take the spoon from the bottle and put it on the table", "D.place the crumpled paper in the clear bowl then cover the bowl with the orange lid" ] } ]