images imagewidth (px) 320 320 | prompt stringlengths 2.71k 2.79k | rewrite v1 naive stringlengths 265 781 | rewrite v2 correct stringlengths 400 923 | rewrite v3 correct inst only stringlengths 354 924 | distill stringlengths 373 1.46k |
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<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: To arrange the green and blue blocks into a horizontal line, I should focus on the four blocks: green cube, green star, blue cube, and blue moon. Currently, the green star and green cube are already roughly on the same horizontal level. I need to move the blue blocks to join them. Since the robot arm is clos... | Reasoning: The goal is to arrange the blue cube, blue moon, green star, and green cube into a horizontal line. Looking at the board, the green star and green cube are already somewhat aligned at a similar vertical level. The robot arm is currently positioned very close to the blue cube in the top left area. To begin fo... | Reasoning: The goal is to arrange the four blocks (green star, green cube, blue moon, and blue cube) into a horizontal line. Currently, the green star is located near the center of the board, which provides a good anchor point for building the line. The blue cube is positioned slightly above and to the right of the cen... | Reasoning: The goal is to arrange the green and blue blocks (blue cube, blue moon, green cube, green star) into a horizontal line. Looking at the current positions, the blue cube is near the top center and the green star is in the center. I can start by aligning other blocks with the green star to form the line. I will... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The blue cube has been positioned to the right of the green star, forming the beginning of a horizontal line. The blue moon is currently located below this emerging line. To include it in the horizontal arrangement, I need to push it upwards. Before I can perform that push, I must reposition the robot arm to... | Reasoning: The goal is to arrange the four green and blue blocks into a horizontal line. Looking at the scene, the green star and blue cube are already positioned adjacent to each other from the previous action, forming the start of the line. The blue moon is currently situated below the blue cube. To include the blue ... | Reasoning: The long-horizon goal is to arrange the green and blue blocks into a horizontal line. Currently, the green star and the blue cube are already positioned near each other horizontally. To continue forming the line, I need to move the blue moon, which is currently below the blue cube, into alignment with the ot... | Reasoning: The goal is to arrange the green and blue blocks (green cube, green star, blue moon, and blue cube) into a horizontal line. Looking at the current scene, the green star, blue moon, and blue cube are already somewhat clustered together near the center, while the green cube is isolated on the far right. In the... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the green and blue blocks into a horizontal line. The robot arm is currently positioned to the right of the blue moon. The green star is located directly above the blue moon, so pushing the blue moon straight up would interfere with the green star. To begin forming the horizontal line ... | Reasoning: Looking at the scene, we have various colored blocks on a black board. Our goal is to arrange the four specific blocks—the green star, green cube, blue moon, and blue cube—into a horizontal line. Currently, the green star and blue moon are clustered near the center, with the blue moon sitting directly below ... | Reasoning: The goal is to arrange the four specific blocks—the green star, green cube, blue moon, and blue cube—into a horizontal line. Looking at the current arrangement, the green star and blue moon are close to each other in the center. A good strategy is to start forming the line by positioning these two relative t... | Reasoning: The goal is to arrange the green and blue blocks (green star, green cube, blue moon, blue cube) into a horizontal line. Looking at the scene, the blue moon and blue cube are already close together near the center. The green star is positioned slightly above the blue moon. To build the horizontal line, I can ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the green and blue blocks into a horizontal line. Currently, the green star, blue cube, and green cube are already somewhat aligned horizontally in the center and right of the board. The blue moon is positioned to the left of the green star, but it is currently sitting a bit too low re... | Reasoning: The goal is to arrange the four specific blocks—the green star, green cube, blue moon, and blue cube—into a horizontal line. Looking at the scene, the green star, blue cube, and green cube are already positioned in a rough horizontal line across the center of the board. The blue moon, following the previous ... | Reasoning: The task is to arrange the four blocks (blue moon, green star, blue cube, and green cube) into a horizontal line. Looking at the current scene, the green star, blue cube, and green cube are already somewhat aligned horizontally across the center of the board. However, the blue moon on the far left is positio... | Reasoning: The goal is to arrange the green and blue blocks (green cube, green star, blue cube, blue moon) into a horizontal line. Looking at the current scene, the green star and blue cube are already somewhat central and near each other. The previous instruction moved the green cube to the right side of the blue moon... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: To create a horizontal line using the yellow and blue blocks, I first need to gather all the required pieces in the same area. Currently, the yellow star, blue cube, and blue moon are located near the top of the board, while the yellow pentagon is isolated at the bottom right. The top left of the board is cu... | Reasoning: The goal is to form a horizontal line using the yellow and blue blocks. Looking at the board, the yellow star, blue cube, and blue moon are already grouped together in the upper section of the board. The yellow pentagon is currently at the bottom right, away from the others. To start forming the line efficie... | Reasoning: The goal is to form a horizontal line using the four yellow and blue blocks: the yellow star, yellow pentagon, blue moon, and blue cube. Currently, three of these blocks are clustered in the top right corner, while the yellow pentagon is isolated at the bottom right. The left side of the board is empty, maki... | Reasoning: The goal is to create a horizontal line using the four yellow and blue blocks (yellow star, yellow pentagon, blue moon, blue cube). Currently, the yellow pentagon is at the bottom right, the yellow star is in a cluster at the top right, and the blue moon and blue cube are also in that cluster. To build a lin... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The objective is to arrange the yellow and blue blocks—the yellow pentagon, yellow star, blue moon, and blue cube—into a horizontal line. The yellow pentagon is already positioned at the bottom right of the board, so I should align the remaining three blocks horizontally with it. I will start by moving the b... | Reasoning: The goal is to create a horizontal line using the four yellow and blue blocks: the yellow star, yellow pentagon, blue moon, and blue cube. Currently, the yellow pentagon is located at the bottom right of the board, while the other three blocks are clustered in the top right area. Instead of moving the yellow... | Reasoning: To create a horizontal line using the yellow and blue blocks (yellow star, yellow pentagon, blue moon, and blue cube), I need to gather them into a clear area. The bottom center of the board is currently empty and provides enough space to align four blocks. Looking at the scene, the blue moon is located near... | Reasoning: The goal is to create a horizontal line using the four yellow and blue blocks (yellow star, yellow pentagon, blue moon, blue cube). Looking at the scene, the yellow pentagon is near the bottom right, the yellow star is near the top right, and the blue moon and blue cube are clustered near the top right as we... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to align the four yellow and blue blocks (yellow star, yellow pentagon, blue moon, and blue cube) into a horizontal line. Currently, the blue moon is positioned at the bottom center of the board. To continue building this line, I should bring the other required blocks to the bottom region. Moving... | Reasoning: To achieve the goal of forming a horizontal line using the yellow and blue blocks (blue moon, blue cube, yellow star, and yellow pentagon), we need to start positioning them along the bottom of the board. Currently, the blue moon is positioned near the bottom center, and there is a cluster of blocks on the r... | Reasoning: To achieve the long-term goal of creating a horizontal line using the yellow and blue blocks, I need to organize them at a consistent vertical level on the board. The blue moon is already positioned at the bottom center. To continue forming the line from the left side, I should move another block from the ta... | Reasoning: The goal is to create a horizontal line using the yellow and blue blocks. Currently, the yellow pentagon and yellow star are clustered together on the right side of the board. I need to bring the blue blocks into this area to start forming the line. The blue moon is located near the center of the board, slig... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to form a horizontal line with the four yellow and blue blocks. Currently, the yellow star, blue moon, and yellow pentagon are already situated near the bottom of the board in a rough horizontal arrangement. To complete the line, the blue cube should be moved into the space between the blue moon ... | Reasoning: To achieve the goal of creating a horizontal line using the yellow and blue blocks, I first observe the current positions of the four required pieces. The yellow star is located at the bottom left, the blue moon is in the bottom center, and the yellow pentagon is on the far right side of the board. These thr... | Reasoning: To create a horizontal line using the yellow and blue blocks, I need to arrange the yellow star, blue moon, blue cube, and yellow pentagon in a row. The yellow star is already positioned at the bottom left corner. Looking at the other blocks, the blue moon is located near the bottom center of the board. A go... | Reasoning: The goal is to create a horizontal line using the yellow star, yellow pentagon, blue cube, and blue moon. Currently, the yellow star is on the far left, the red moon and blue moon are in the bottom center, the blue cube is in the upper center, and the green cube, red pentagon, and yellow pentagon are cluster... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The blue cube is currently positioned directly above the blue moon, and they are touching. To form a horizontal line with the blue and yellow blocks, the blue cube needs to be moved to the side of the blue moon. Moving it to the right will separate it from the moon and align it better for the horizontal goal... | Reasoning: The goal is to create a horizontal line using the yellow star, yellow pentagon, blue moon, and blue cube. Looking at the current scene, the blue cube is positioned directly above the blue moon and the two blocks are touching. To form a horizontal line, these blocks need to be arranged side-by-side. Moving th... | Reasoning: The long-term goal is to align the yellow star, yellow pentagon, blue moon, and blue cube into a horizontal line. Currently, the blue cube is positioned directly above the blue moon, creating a vertical orientation. To begin forming the horizontal line, I need to start aligning these blocks side-by-side. Shi... | Reasoning: The goal is to create a horizontal line using the yellow and blue blocks (yellow star, yellow pentagon, blue moon, blue cube). Looking at the scene, the previous instruction moved the yellow pentagon near the center. To build a line around it, I should bring the other target blocks closer. The blue cube and ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: To create a horizontal line with the yellow and blue blocks, I first identify the four target blocks: the yellow star, yellow pentagon, blue cube, and blue moon. Observing the scene, the yellow star on the left is already horizontally aligned with the blue cube and yellow pentagon on the right. The blue moon... | Reasoning: To create a horizontal line using the yellow and blue blocks, I need to align the yellow star, yellow pentagon, blue cube, and blue moon. Looking at the board, the yellow star on the far left, the blue cube, and the yellow pentagon on the right are already roughly aligned at the same vertical height. The blu... | Reasoning: The goal is to form a horizontal line using the yellow and blue blocks. Currently, the blue moon is positioned lower than the other blocks on the right side of the board. To begin aligning the pieces for a horizontal row, the blue moon needs to be adjusted vertically. Moving it slightly upward will bring it ... | Reasoning: The goal is to create a horizontal line using the four yellow and blue blocks (yellow star, yellow pentagon, blue moon, blue cube). Currently, the yellow star is on the far left. The blue moon is located near the bottom center. To start forming the line, I will move the blue moon to the right side of the yel... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the red moon, red pentagon, green cube, and green star into a vertical line. To avoid pushing these blocks into the edges where they might get stuck, I should first consolidate them in the center of the board. The green star is currently located near the top right corner, so I will beg... | Reasoning: The goal is to build a vertical line using four specific blocks: the red moon, red pentagon, green cube, and green star. Looking at the board, the red moon is located on the right side, the red pentagon and green cube are in the lower central region, and the green star is situated near the top right corner, ... | Reasoning: The goal is to build a vertical line using the red and green blocks: the red moon, red pentagon, green cube, and green star. Currently, these blocks are scattered across the board. To begin forming the line, it is best to move one of the blocks to a central location to serve as an anchor point for the rest o... | Reasoning: The goal is to build a vertical line using four blocks: red moon, red pentagon, green cube, and green star. Currently, all these blocks are scattered. I will start by establishing a base for the vertical line. I'll pick the green cube and move it towards the bottom center area to serve as the bottom-most blo... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The green star is now positioned in the center of the board, and it is already vertically aligned with the red pentagon below it. To continue building the vertical line using the red and green blocks, we need to bring the remaining pieces into the arrangement. The green pentagon is currently sitting too low ... | Reasoning: The green star is now positioned in the center of the board, vertically aligned with the red pentagon which is situated near the bottom edge. To continue constructing the vertical line with the required red and green blocks, I need to bring the pentagon higher up. It is currently too low to form a compact st... | Reasoning: The goal is to build a vertical line using the red and green blocks. Since the green star has already been moved to the center of the board, the next step is to begin stacking the other specified blocks vertically around it. To start this formation, I will move the green pentagon to a position directly above... | Reasoning: The goal is to build a vertical line using the four red and green blocks: red moon, red pentagon, green cube, and green star. Currently, the blocks are scattered. My previous instruction moved the red moon to the bottom right. To build a vertical line, I should start grouping these four blocks together. A go... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The green cube and green star are already aligned vertically in the center of the board. To continue building the vertical line with the red and green blocks, I need to bring the red moon from the right side towards the center. Placing it below the green star will help form the desired vertical arrangement.
... | Reasoning: The objective is to form a vertical line using the four red and green blocks: the red moon, red pentagon, green cube, and green star. Looking at the current scene, the green cube and the green star are already roughly aligned in a vertical column near the center of the board. To continue building this line, ... | Reasoning: To build a vertical line using the red and green blocks, I need to align the green cube, green star, red moon, and red pentagon. Currently, the green cube is already positioned above the green star in the center of the board. To continue forming the line downwards, the next step is to bring one of the red bl... | Reasoning: The goal is to build a vertical line using all four red and green blocks (red moon, red pentagon, green cube, green star). Currently, the green star is positioned above the red pentagon. To continue building the vertical line, I should move another block of the target set into position. The green cube is cur... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The task is to arrange the four red and blue blocks into a vertical line. Looking at the board, the right side is relatively clear, providing a good area to assemble the line without interference from other blocks. I'll start by positioning one of the target blocks, the blue moon, which is already on the rig... | Reasoning: The goal is to arrange the four target blocks—the red pentagon, red moon, blue cube, and blue moon—into a vertical line. Looking at the board, the right side has the most open space, making it an ideal location to construct the line without interference from the green and yellow distractors. The blue moon is... | Reasoning: The goal is to arrange the red moon, red pentagon, blue moon, and blue cube into a vertical line. To begin this task, I need to pick a location for the line and move one of the blocks to serve as an anchor point. The top right area of the board is relatively open space. I will move the blue moon to the top r... | Reasoning: The goal is to arrange the four specific blocks (red moon, red pentagon, blue moon, blue cube) into a vertical line. Looking at the current distribution, these blocks are scattered across the board. To begin forming a vertical line, I should pick a target area and start moving the blocks there. The blue moon... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The blue moon has been moved to the top right corner to start forming the vertical line of blue and red blocks. To continue building this line, I should move another target block into position along the right edge. Placing the red moon at the bottom right corner will establish the bottom boundary of our vert... | Reasoning: The long-term goal is to align the four red and blue blocks—the blue moon, blue cube, red moon, and red pentagon—into a vertical line. Currently, the blue moon has already been moved to the top right corner, serving as the top anchor for our line. To clearly define the vertical path and ensure we have enough... | Reasoning: The long-term goal is to arrange the four red and blue blocks—red moon, red pentagon, blue moon, and blue cube—into a vertical line. My previous instruction placed the blue moon in the top right corner to serve as the top of this line. To establish the full extent of the vertical arrangement along the right ... | Reasoning: The goal is to arrange the four red and blue blocks (red moon, red pentagon, blue moon, blue cube) into a vertical line. Looking at the current state, the red pentagon has already been moved towards the center-left. The blue cube is near it. I will start forming the vertical line around this area. I'll move ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The objective is to align all the red and blue blocks into a vertical column. Currently, the blue moon, blue cube, and red pentagon are already positioned in a rough vertical line on the right side of the board. The red moon, which is at the bottom, is slightly out of alignment to the left. I need to move it... | Reasoning: To arrange the red and blue blocks into a vertical line, I should focus on the four target blocks: the blue moon, the blue cube, the red pentagon, and the red moon. Currently, these blocks are already grouped on the right side of the board, forming a rough vertical sequence. The blue moon is at the top, foll... | Reasoning: The long-term goal is to arrange the red moon, red pentagon, blue moon, and blue cube into a vertical line. Most of these blocks are already located on the right side of the board. To form the line, I need to align their horizontal positions. The blue moon is currently at the top right corner. The red moon, ... | Reasoning: The goal is to arrange the red moon, red pentagon, blue moon, blue cube into a vertical line. In the previous step, the red moon was moved near the blue cube. Looking at the current scene, the red moon is at the bottom right. To form a vertical line, I should start grouping the target blocks. The red pentago... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the red moon, blue moon, red pentagon, and blue cube into a vertical line. Currently, the blue moon is at the top right and the red moon is at the bottom right. To build the line between them, I should move the other red and blue blocks to the right side of the board. The red pentagon ... | Reasoning: The goal is to arrange the four red and blue blocks—the red moon, red pentagon, blue moon, and blue cube—into a vertical line. Looking at the scene, the blue moon is located in the top right corner and the red moon is in the bottom right corner, which establishes a clear vertical axis on the right side of th... | Reasoning: The goal is to arrange the four blue and red blocks into a vertical line. The red moon is already positioned in the bottom right corner, and the blue moon is in the top right corner. To form a vertical line along the right side of the board, I need to move the remaining red and blue blocks into the space bet... | Reasoning: The goal is to arrange all four blue and red blocks into a vertical line. The previous instruction was to move the red moon to the bottom side of the red pentagon, and it is currently located at the bottom right of the board. I need to bring the blue blocks towards the red blocks to form the line. The red pe... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The blue moon, red pentagon, and red moon are already positioned on the right side of the board, forming the beginning of a vertical line. To complete the task, I need to move the final target block, the blue cube, from its current position on the left to join the others. Moving the blue cube to the center r... | Reasoning: The goal is to arrange the four blue and red blocks into a vertical line. Currently, the blue moon is located at the top right, the red pentagon is at the center right, and the red moon is at the bottom right. These three blocks are already roughly aligned in a column on the right side of the board. The fina... | Reasoning: The long-term goal is to arrange the red moon, red pentagon, blue moon, and blue cube into a vertical line. Looking at the current state, the red pentagon is already positioned at the center right, the red moon is at the bottom right, and the blue moon is near the top right. The blue cube is currently isolat... | Reasoning: The goal is to arrange the four red and blue blocks (red moon, red pentagon, blue moon, blue cube) into a vertical line. Looking at the current state, the blue cube has been moved near the red pentagon. There is a blue moon partially visible in the top right corner near the robot arm base. To form a vertical... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the red moon, red pentagon, blue moon, and blue cube into a vertical line. Currently, these blocks are already positioned on the right side of the board in a rough vertical sequence. However, the red moon at the bottom is sitting a bit too far to the left compared to the red pentagon a... | Reasoning: The long-term goal is to align the four red and blue blocks—the red moon, red pentagon, blue moon, and blue cube—into a vertical line. Looking at the scene, these blocks are already roughly positioned on the right side of the board. The blue moon is at the top right (partially obscured by the arm), followed ... | Reasoning: The goal is to arrange the blue and red blocks into a vertical line. Currently, the blue moon, blue cube, red pentagon, and red moon are all situated on the right side of the board. To form a straight vertical line, I need to align their horizontal positions. The red moon is located in the bottom right area ... | Reasoning: The goal is to arrange the blue moon, blue cube, red pentagon, and red moon into a vertical line. Looking at the scene, the red moon and red pentagon are already somewhat near each other on the right side. The blue cube is being touched by the robot arm near the red pentagon. To start forming the vertical li... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The long-term goal is to arrange the red and blue blocks into a vertical line. Looking at the current scene, the blue cube and red pentagon are already somewhat aligned vertically on the right side of the board. The red moon is positioned below them but is currently a bit too far to the left to form a straig... | Reasoning: The long-term goal is to arrange the four red and blue blocks into a vertical line. Currently, the blue cube and red pentagon are positioned on the right side of the board, forming a rough vertical stack. The red moon is located at the bottom right but is slightly offset to the left of the vertical axis esta... | Reasoning: The long-term goal is to align the red moon, red pentagon, blue moon, and blue cube into a vertical line. Most of these blocks are already located on the right side of the workspace. To establish a clean vertical line along the right edge, the red moon, which is currently in the bottom right area, needs to b... | Reasoning: The goal is to arrange the four red and blue blocks (red moon, red pentagon, blue moon, blue cube) into a vertical line. Looking at the current state, the red moon is at the bottom right, and the red pentagon, blue cube, and green star are clustered near the robot arm. To form a vertical line, I should start... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange all four yellow and blue blocks—the yellow pentagon, yellow star, blue moon, and blue cube—into a horizontal line. To ensure there is enough space and to prevent blocks from getting stuck near the edges, it's best to assemble the line near the center of the board. The blue cube is alre... | Reasoning: The objective is to arrange the four yellow and blue blocks—the yellow star, yellow pentagon, blue moon, and blue cube—into a horizontal line. Currently, the blue cube is positioned near the center of the board. The yellow pentagon is located in the bottom-left area relative to the center, while the blue moo... | Reasoning: To arrange the yellow and blue blocks (yellow pentagon, yellow star, blue moon, blue cube) into a horizontal line, I should start by grouping them together. The blue cube is currently near the center of the board, so I can use it as an anchor point for the line. I will begin by moving the yellow pentagon fro... | Reasoning: The goal is to arrange the four yellow and blue blocks (yellow pentagon, yellow star, blue moon, blue cube) in a horizontal line. Currently, the blocks are scattered across the board. The yellow pentagon is near the bottom center, and the blue cube is slightly above it. The blue moon and yellow star are furt... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the yellow and blue blocks in a horizontal line. Currently, the yellow pentagon is located in the bottom left corner, which makes it difficult to manipulate towards the other blocks. To effectively move it, the robot arm needs to be repositioned. Moving the arm to the bottom left corne... | Reasoning: Looking at the scene, the yellow pentagon is currently positioned in the bottom left corner of the board, which is an awkward spot for manipulation. To fulfill the long-term goal of arranging the yellow and blue blocks into a horizontal line, the yellow pentagon needs to be moved toward the center. However, ... | Reasoning: The goal is to arrange the yellow star, yellow pentagon, blue moon, and blue cube in a horizontal line. Currently, the blue cube and blue moon are in the central area, while the yellow pentagon is located at the bottom left corner of the board. To begin moving the yellow pentagon towards the center to align ... | Reasoning: The goal is to arrange the yellow and blue blocks (yellow pentagon, yellow star, blue moon, blue cube) in a horizontal line. The blue cube is already near the center. To start forming a horizontal line around it, I will move another block to its side. The yellow pentagon is currently at the bottom center. Mo... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: To arrange the yellow and blue blocks in a horizontal line, I need to bring them into a common area. The yellow pentagon is currently tucked away in the bottom left corner, making it difficult to align with the blue moon, blue cube, and yellow star. Since the robot arm is already in the bottom left corner, I... | Reasoning: The goal is to arrange the yellow and blue blocks into a horizontal line. Currently, the blocks are scattered across the board. The yellow pentagon is located in the bottom left corner and is partially obscured by the robot arm, which has just moved into that corner. To begin forming the line, the yellow pen... | Reasoning: To arrange the yellow and blue blocks into a horizontal line, I should first bring them into a common area. The blue moon and blue cube are already located near the middle of the board. The yellow pentagon is currently situated at the bottom left corner, partially under the robot arm. To begin forming the li... | Reasoning: The goal is to arrange the yellow and blue blocks in a horizontal line. Looking at the scene, the blue moon is now to the left of the blue cube as per the previous instruction. The yellow pentagon is below the blue cube, and the yellow star is on the far right. To build a horizontal line, I should move the y... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The yellow pentagon is currently at the far left edge of the board. To form a horizontal line with the yellow and blue blocks, I can use its current vertical position as the baseline. The yellow star on the far right is already roughly at this height. I need to bring the blue moon and blue cube into this lin... | Reasoning: The goal is to arrange the four yellow and blue blocks—the yellow pentagon, yellow star, blue moon, and blue cube—into a horizontal line. Currently, the yellow pentagon is located on the far left of the board, and the yellow star is on the far right. These two blocks can serve as the endpoints for the line. ... | Reasoning: The long-term goal is to align the four yellow and blue blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a horizontal line. To begin this process, it's efficient to start moving these target blocks toward a common horizontal axis. The green star is currently positioned towards the left ... | Reasoning: The goal is to arrange the yellow and blue blocks (yellow pentagon, yellow star, blue moon, blue cube) in a horizontal line. Looking at the current scene, the blue moon is already to the left of the blue cube. To continue building this line, I should move another block belonging to the target set into positi... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the yellow and blue blocks into a horizontal line. Currently, the yellow pentagon on the far left, the blue moon in the center, and the yellow star on the far right are already positioned along a similar horizontal plane. The blue cube is the only target block not yet in this alignment... | Reasoning: The goal is to arrange the yellow and blue blocks—specifically the yellow pentagon, yellow star, blue moon, and blue cube—into a horizontal line. Currently, the yellow pentagon is on the far left, the blue moon is in the center, and the yellow star is on the right; these three are already roughly aligned alo... | Reasoning: To arrange the yellow and blue blocks into a horizontal line, I need to cluster the yellow pentagon, yellow star, blue cube, and blue moon together. The yellow star is currently positioned on the right side of the board. A good next step is to move the blue cube from the center toward the yellow star to begi... | Reasoning: The goal is to arrange the four yellow and blue blocks (yellow pentagon, yellow star, blue moon, blue cube) in a horizontal line. Looking at the current state, the blue moon, blue cube, and yellow pentagon are clustered near the center. My previous instruction was to move the yellow pentagon to the right of ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: To arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line, I first need to create some space among the blocks. Currently, the blue moon is clustered with the blue cube and yellow star, making it hard to move them into a specific formation. I will start by moving the blue moon... | Reasoning: The objective is to arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line. Looking at the scene, these target blocks are currently clustered on the right side of the board. The blue moon is located to the right of the blue cube and is quite close to the yellow star. To facil... | Reasoning: To achieve the goal of arranging the blue moon, blue cube, yellow star, and yellow pentagon in a vertical line, I will focus on the right side of the board where these blocks are currently situated. The blue moon is currently positioned to the right of the blue cube and slightly above the yellow star. To beg... | Reasoning: The goal is to arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line. Looking at the current positions, the blue cube and yellow pentagon are already somewhat near each other on the right side. The yellow star and blue moon are further down. To start forming the line, I will... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the blue and yellow blocks into a vertical line. Currently, the blue moon and the yellow star are in close proximity. To start forming the vertical alignment, I need to place one precisely relative to the other. I will move the blue moon so that it sits directly underneath the yellow s... | Reasoning: The long-term goal is to arrange the four blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Looking at the current scene, the robot arm is positioned in the bottom right corner, having already moved the blue moon close to the yellow blocks. Specifically, ... | Reasoning: The long-horizon goal is to arrange the blue and yellow blocks into a vertical line. Looking at the scene, the robot arm is currently positioned at the blue moon in the bottom right area. To begin forming this vertical column, I need to align the blocks relative to one another. The yellow star is positioned ... | Reasoning: The goal is to arrange the blue and yellow blocks in a vertical line. The four blocks involved are the blue moon, blue cube, yellow star, and yellow pentagon. Currently, the blue moon is already being moved by the arm near the bottom right. The blue cube is in the center right. The yellow star and yellow pen... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The objective is to arrange the four blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Currently, the yellow star and blue moon are already positioned vertically near the right side of the board. To continue building this line, I need to bring the other t... | Reasoning: The goal is to arrange the blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Currently, the yellow star and blue moon are positioned near the bottom right of the board. To continue building the vertical line in this column, I need to bring the other block... | Reasoning: The goal is to arrange the four blue and yellow blocks into a vertical line. Looking at the scene, the yellow star and blue moon are already positioned at the bottom right of the board. To continue forming the vertical line in that area, I need to bring the yellow pentagon closer to them. The yellow pentagon... | Reasoning: The goal is to arrange the blue moon, blue cube, yellow star, and yellow pentagon in a vertical line. Looking at the current state, the blue cube is in the center-top area, and the blue moon has been moved just below it according to the previous instruction. The yellow pentagon is to the right of this emergi... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The objective is to align the four blue and yellow blocks into a vertical column. Currently, the yellow pentagon is at the top right, with the yellow star and blue moon already positioned below it in a rough vertical line. To complete the group, I need to bring the blue cube over from the center of the board... | Reasoning: The goal is to align the blue moon, blue cube, yellow star, and yellow pentagon in a vertical line. The yellow pentagon is already positioned on the right side of the board. To build the line, I should bring the other three blocks over to align with it. The blue cube is currently located in the middle-right ... | Reasoning: The task is to arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line. Looking at the scene, the yellow pentagon is located at the top right, with the yellow star and blue moon already forming a loose vertical alignment below it on the right side of the board. The blue cube i... | Reasoning: The goal is to arrange the blue and yellow blocks (blue moon, blue cube, yellow star, yellow pentagon) into a vertical line. Looking at the current scene, the blue cube is in the upper middle area. My previous instruction moved the yellow pentagon above it. Now, I should move another block of the group to co... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the four blue and yellow blocks into a vertical line. Currently, the yellow pentagon, yellow star, and blue moon are roughly aligned vertically on the right side of the board, but there is a gap between the yellow pentagon and the yellow star. The blue cube is positioned to the left of... | Reasoning: To achieve the goal of forming a vertical line with the blue and yellow blocks, I need to align the yellow pentagon, blue cube, yellow star, and blue moon. Currently, the yellow pentagon is at the top of the right-hand cluster, while the yellow star and blue moon are positioned lower down. There is a gap bet... | Reasoning: The long-horizon goal is to arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line. Currently, these blocks are clustered on the right side of the board. To begin forming the vertical sequence, I want to stack them one by one. The yellow pentagon is at the top of the group. S... | Reasoning: The goal is to arrange the four blue and yellow blocks into a vertical line. Looking at the current state, the yellow pentagon is at the top, the blue cube is below it to the left, the yellow star is below the blue cube to the right, and the blue moon is at the very bottom. To form a vertical line, I should ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to align the blue moon, blue cube, yellow star, and yellow pentagon in a vertical column. Currently, they are roughly in place, but the blue cube is slightly offset to the left of the yellow star and blue moon. To complete the vertical line, I need to nudge the blue cube to the right so it sits d... | Reasoning: To form a vertical line of the blue and yellow blocks, I need to align the blue moon, yellow star, yellow pentagon, and blue cube. Currently, the yellow pentagon, yellow star, and blue moon are already arranged vertically on the right side of the board. The blue cube is positioned just to the left of this co... | Reasoning: The goal is to arrange the blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Looking at the bottom right of the board, the blue cube has been moved above the yellow star, but it is currently positioned a bit too far to the left. To better align these two ... | Reasoning: The goal is to arrange the blue and yellow blocks in a vertical line. There are four such blocks: blue moon, blue cube, yellow star, and yellow pentagon. Currently, the yellow star, blue cube, and blue moon are clumped together on the right side of the board, while the yellow pentagon is partially hidden und... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the four blue and yellow blocks into a vertical line. Looking at the current state, the yellow pentagon, blue cube, and blue moon are already somewhat aligned vertically on the right side of the board. However, the yellow star is currently sticking out to the right, breaking the alignm... | Reasoning: The goal is to arrange the blue moon, blue cube, yellow star, and yellow pentagon into a vertical line. Looking at the current arrangement on the right side of the board, these four blocks are already loosely grouped vertically. From top to bottom, we have the yellow pentagon, the blue cube, the yellow star,... | Reasoning: The task is to arrange the four blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Currently, these blocks are clustered on the right side of the board. Looking at their positions, the yellow pentagon is at the top, followed by the blue cube. The yellow st... | Reasoning: The goal is to arrange the four blue and yellow blocks (blue moon, blue cube, yellow star, and yellow pentagon) into a vertical line. Looking at the current state, the yellow pentagon is at the top right, the blue cube is below it, the yellow star is to the right of the blue cube, and the blue moon is at the... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the blue and yellow blocks into a vertical line. I previously moved the yellow star to the left, but it is now too far from the blue blocks to form a coherent line. I need to bring it back and align it vertically with the blue cube to start building the column.
Instruction: move the ye... | Reasoning: The long-term goal is to arrange the blue and yellow blocks into a vertical line. Looking at the right side of the board, we have the blue cube, the yellow star, and the blue moon. The yellow star is currently positioned to the left of the blue blocks. Based on the previous instruction, the yellow star was m... | Reasoning: The task is to arrange the blue and yellow blocks into a vertical line. In the current scene, the blue cube, the yellow star, and the blue moon are grouped together on the right side of the board near the robot arm. To start forming the vertical line, I should align the yellow star with the blue cube. Since ... | Reasoning: The goal is to arrange all blue and yellow blocks into a vertical line. Currently, the blue moon, blue cube, and yellow star are clustered in the bottom right area. They are forming a rough shape but are not perfectly aligned. To start building a clean vertical line, I should move the remaining yellow block ... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the four blue and yellow blocks into a vertical line. I have already positioned the yellow star below the blue cube. To continue forming the line, I need to align the yellow pentagon with these blocks. Currently, the yellow pentagon appears to be slightly out of alignment to the right.... | Reasoning: To achieve the goal of forming a vertical line with the blue and yellow blocks, I need to align the blue moon, blue cube, yellow star, and yellow pentagon along a single vertical axis. In the bottom right corner of the board, the robot arm is positioned near the cluster of these blocks. The yellow pentagon a... | Reasoning: The objective is to organize the four blue and yellow blocks—the blue moon, blue cube, yellow star, and yellow pentagon—into a vertical line. Currently, these blocks are clustered together in the bottom right area of the board. To begin forming the vertical alignment, I need to separate and reposition the bl... | Reasoning: The goal is to arrange the blue and yellow blocks into a vertical line. In the current scene, the yellow star and the blue moon are already close to each other at the bottom right. The previous instruction was to move the blue moon to the bottom side of the yellow star. Looking at the image, the blue moon is... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the four red and green blocks (red moon, red pentagon, green cube, and green star) into a horizontal line. Looking at the scene, the green cube and red moon are already positioned side-by-side near the bottom and are horizontally aligned. I can use this as the base for my line. The gre... | Reasoning: The task is to arrange the red moon, red pentagon, green cube, and green star in a horizontal line. Looking at the board, the green cube and red moon are already positioned somewhat side by side in the bottom region, forming the basis of a horizontal alignment. To complete the line, I need to bring the red p... | Reasoning: The goal is to arrange the red moon, red pentagon, green cube, and green star in a horizontal line. Looking at the scene, the green cube and red moon are already positioned towards the bottom center, while the green star and red pentagon are further up. To begin forming the line, I should move the upper bloc... | Reasoning: The goal is to arrange all the red and green blocks (red moon, red pentagon, green cube, green star) into a horizontal line. Currently, the blocks are scattered. A good starting point would be to move one of these blocks to a clear area to act as an anchor for the line. I'll start by moving the green cube to... | |
<image>This is a robot performing a block arrangement task in a simulator. The robot arm is a gray cylinder that can slide over the board to push colored blocks.
The observations are: (1) The current image of the scene, (2) The long-horizon task goal, which is to move some blocks to certain shapes or locations. (3) You... | Reasoning: The goal is to arrange the red moon, red pentagon, green cube, and green star in a horizontal line. Currently, the robot is pushing the green star downwards. It is still positioned higher than the green cube and red moon, which are already somewhat aligned near the bottom. To bring the green star into the sa... | Reasoning: To arrange the red and green blocks into a horizontal line, I need to bring them to a consistent vertical level. The green star is currently on the left side, positioned higher than the green cube and red moon. The robot arm is already placed at the top of the green star, having started the previous command.... | Reasoning: To arrange all the red and green blocks—the red moon, red pentagon, green cube, and green star—into a horizontal line, I need to bring them to the same vertical level. Currently, the green cube and red moon are located in the lower-middle region of the board. The green star is positioned further up on the le... | Reasoning: The goal is to arrange all red and green blocks (red moon, red pentagon, green cube, green star) in a horizontal line. Looking at the current scene, the red pentagon is already at the middle right. To form a line, I can arrange the other blocks to its left. The green star is currently on the left side, the b... |
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