| [ |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1036", |
| "actions_list": [ |
| "move_to(none, left_edge_of_the_shower_curtain)", |
| "grasp(left_edge_of_the_shower_curtain)", |
| "pull(left_edge_of_the_shower_curtain, left_side_of_the_shower_curtain)" |
| ], |
| "gt_dag": { |
| "move_to(none, left_edge_of_the_shower_curtain)": [ |
| "grasp(left_edge_of_the_shower_curtain)" |
| ], |
| "grasp(left_edge_of_the_shower_curtain)": [ |
| "pull(left_edge_of_the_shower_curtain, left_side_of_the_shower_curtain)" |
| ], |
| "pull(left_edge_of_the_shower_curtain, left_side_of_the_shower_curtain)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1036.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_960", |
| "actions_list": [ |
| "move_to(none, door_handle)", |
| "grasp(door_handle)", |
| "turn(door_handle, clockwise, open)", |
| "push(door)" |
| ], |
| "gt_dag": { |
| "move_to(none, door_handle)": [ |
| "grasp(door_handle)" |
| ], |
| "grasp(door_handle)": [ |
| "turn(door_handle, clockwise, open)" |
| ], |
| "turn(door_handle, clockwise, open)": [ |
| "push(door)" |
| ], |
| "push(door)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_960.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1137", |
| "actions_list": [ |
| "move_to(none, door_handle)", |
| "grasp(door_handle)", |
| "pull(door)" |
| ], |
| "gt_dag": { |
| "move_to(none, door_handle)": [ |
| "grasp(door_handle)" |
| ], |
| "grasp(door_handle)": [ |
| "pull(door)" |
| ], |
| "pull(door)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1137.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_398", |
| "actions_list": [ |
| "move_to(none, shower_curtain)", |
| "grasp(show_curtain)", |
| "pull(show_curtain, right_side_of_the_shower_curtain)" |
| ], |
| "gt_dag": { |
| "move_to(none, shower_curtain)": [ |
| "grasp(show_curtain)" |
| ], |
| "grasp(show_curtain)": [ |
| "pull(show_curtain, right_side_of_the_shower_curtain)" |
| ], |
| "pull(show_curtain, right_side_of_the_shower_curtain)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_398.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_27", |
| "actions_list": [ |
| "move_to(none, faucet)", |
| "grasp(faucet)", |
| "turn(faucet, clockwise, middle_of_the_sink)", |
| "move_to(none, faucet_handle)", |
| "press(none, faucet_handle)" |
| ], |
| "gt_dag": { |
| "move_to(none, faucet)": [ |
| "grasp(faucet)" |
| ], |
| "grasp(faucet)": [ |
| "turn(faucet, clockwise, middle_of_the_sink)" |
| ], |
| "turn(faucet, clockwise, middle_of_the_sink)": [ |
| "move_to(none, faucet_handle)" |
| ], |
| "move_to(none, faucet_handle)": [ |
| "press(none, faucet_handle)" |
| ], |
| "press(none, faucet_handle)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_27.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_88658", |
| "actions_list": [ |
| "move_to(none, left_edge_of_the_curtain)", |
| "grasp(left_edge_of_the_curtain)", |
| "pull(left_edge_of_the_curtain, right_side_of_the_curtain)" |
| ], |
| "gt_dag": { |
| "move_to(none, left_edge_of_the_curtain)": [ |
| "grasp(left_edge_of_the_curtain)" |
| ], |
| "grasp(left_edge_of_the_curtain)": [ |
| "pull(left_edge_of_the_curtain, right_side_of_the_curtain)" |
| ], |
| "pull(left_edge_of_the_curtain, right_side_of_the_curtain)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_88658.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_40", |
| "actions_list": [ |
| "move_to(none, door_handle)", |
| "grasp(door_handle)", |
| "turn(door_handle, anticlockwise, open)", |
| "move_to(none, door)", |
| "grasp(door)", |
| "pull(door, inward)" |
| ], |
| "gt_dag": { |
| "move_to(none, door_handle)": [ |
| "grasp(door_handle)" |
| ], |
| "grasp(door_handle)": [ |
| "turn(door_handle, anticlockwise, open)" |
| ], |
| "turn(door_handle, anticlockwise, open)": [ |
| "move_to(none, door)" |
| ], |
| "move_to(none, door)": [ |
| "grasp(door)" |
| ], |
| "grasp(door)": [ |
| "pull(door, inward)" |
| ], |
| "pull(door, inward)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_40.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_616", |
| "actions_list": [ |
| "move_to(none, can)", |
| "grasp(can)", |
| "pick_up(can)", |
| "turn(can, anticlockwise, parallel_to_the_box)", |
| "place(can, box)" |
| ], |
| "gt_dag": { |
| "move_to(none, can)": [ |
| "grasp(can)" |
| ], |
| "grasp(can)": [ |
| "pick_up(can)" |
| ], |
| "pick_up(can)": [ |
| "turn(can, anticlockwise, parallel_to_the_box)" |
| ], |
| "turn(can, anticlockwise, parallel_to_the_box)": [ |
| "place(can, box)" |
| ], |
| "place(can, box)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_616.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1189", |
| "actions_list": [ |
| "move_to(none, trash_can_switch)", |
| "press(none, trash_can_switch)" |
| ], |
| "gt_dag": { |
| "move_to(none, trash_can_switch)": [ |
| "press(none, trash_can_switch)" |
| ], |
| "press(none, trash_can_switch)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1189.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_224", |
| "actions_list": [ |
| "move_to(none, paper_cup)", |
| "grasp(paper_cup)", |
| "pick_up(paper_cup)", |
| "turn(papaer_cup, anticlockwise, vertical_to_the_tray)", |
| "place(paper_cup, tray)" |
| ], |
| "gt_dag": { |
| "move_to(none, paper_cup)": [ |
| "grasp(paper_cup)" |
| ], |
| "grasp(paper_cup)": [ |
| "pick_up(paper_cup)" |
| ], |
| "pick_up(paper_cup)": [ |
| "turn(papaer_cup, anticlockwise, vertical_to_the_tray)" |
| ], |
| "turn(papaer_cup, anticlockwise, vertical_to_the_tray)": [ |
| "place(paper_cup, tray)" |
| ], |
| "place(paper_cup, tray)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_224.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1262", |
| "actions_list": [ |
| "move_to(cloth)", |
| "grasp(cloth)", |
| "pick_up(cloth)", |
| "move_to(cloth, pot)", |
| "wipe(cloth, none, pot)" |
| ], |
| "gt_dag": { |
| "move_to(cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "pick_up(cloth)" |
| ], |
| "pick_up(cloth)": [ |
| "move_to(cloth, pot)" |
| ], |
| "move_to(cloth, pot)": [ |
| "wipe(cloth, none, pot)" |
| ], |
| "wipe(cloth, none, pot)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1262.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_41031", |
| "actions_list": [ |
| "move_to(none, door_handle)", |
| "grasp(door_handle)", |
| "pull(door)", |
| "move_to(none, light_button)", |
| "press(none, light_button)" |
| ], |
| "gt_dag": { |
| "move_to(none, door_handle)": [ |
| "grasp(door_handle)" |
| ], |
| "grasp(door_handle)": [ |
| "pull(door)" |
| ], |
| "pull(door)": [ |
| "move_to(none, light_button)" |
| ], |
| "move_to(none, light_button)": [ |
| "press(none, light_button)" |
| ], |
| "press(none, light_button)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_41031.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_301", |
| "actions_list": [ |
| "move_to(none, left_cabinet_door)", |
| "grasp(left_door_handle_of_the_cabinet)", |
| "push(cabinet_door)" |
| ], |
| "gt_dag": { |
| "move_to(none, left_cabinet_door)": [ |
| "grasp(left_door_handle_of_the_cabinet)" |
| ], |
| "grasp(left_door_handle_of_the_cabinet)": [ |
| "push(cabinet_door)" |
| ], |
| "push(cabinet_door)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_301.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_598", |
| "actions_list": [ |
| "move_to(none, white_bottle)", |
| "grasp(white_bottle)", |
| "pick_up(white_bottle)", |
| "move_to(white_bottle, plastic_bag)", |
| "place(white_bottle, plastic_bag)", |
| "move_to(none, brown_bottle)", |
| "grasp(brown_bottle)", |
| "pick_up(brown_bottle)", |
| "move_to(brown_bottle, plastic_bag)", |
| "place(brown_bottle, plastic_bag)", |
| "move_to(none, blue_bottle)", |
| "grasp(blue_bottle)", |
| "pick_up(blue_bottle)", |
| "move_to(blue_bottle, plastic_bag)", |
| "place(blue_bottle, plastic_bag)", |
| "move_to(none, orange_bottle)", |
| "grasp(orange_bottle)", |
| "pick_up(orange_bottle)", |
| "move_to(orange_bottle, plastic_bag)", |
| "place(orange_bottle, plastic_bag)", |
| "move_to(none, pink_bottle)", |
| "grasp(pink_bottle)", |
| "pick_up(pink_bottle)", |
| "move_to(pink_bottle, plastic_bag)", |
| "place(pink_bottle, plastic_bag)", |
| "move_to(none, yellow_bottle)", |
| "grasp(yellow_bottle)", |
| "pick_up(yellow_bottle)", |
| "move_to(yellow_bottle, plastic_bag)", |
| "place(yellow_bottle, plastic_bag)", |
| "move_to(none, purple_bottle)", |
| "grasp(purple_bottle)", |
| "pick_up(purple_bottle)", |
| "move_to(purple_bottle, plastic_bag)", |
| "place(purple_bottle, plastic_bag)", |
| "move_to(none, strawberry)", |
| "grasp(strawberry)", |
| "pick_up(strawberry)", |
| "move_to(strawberry, plastic_bag)", |
| "place(strawberry, plastic_bag)", |
| "move_to(none, brown_doll)", |
| "grasp(brown_doll)", |
| "pick_up(brown_doll)", |
| "move_to(brown_doll, plastic_bag)", |
| "place(brown_doll, plastic_bag)" |
| ], |
| "gt_dag": { |
| "move_to(none, white_bottle)": [ |
| "grasp(white_bottle)" |
| ], |
| "grasp(white_bottle)": [ |
| "pick_up(white_bottle)" |
| ], |
| "pick_up(white_bottle)": [ |
| "move_to(white_bottle, plastic_bag)" |
| ], |
| "move_to(white_bottle, plastic_bag)": [ |
| "place(white_bottle, plastic_bag)" |
| ], |
| "place(white_bottle, plastic_bag)": [], |
| "move_to(none, brown_bottle)": [ |
| "grasp(brown_bottle)" |
| ], |
| "grasp(brown_bottle)": [ |
| "pick_up(brown_bottle)" |
| ], |
| "pick_up(brown_bottle)": [ |
| "move_to(brown_bottle, plastic_bag)" |
| ], |
| "move_to(brown_bottle, plastic_bag)": [ |
| "place(brown_bottle, plastic_bag)" |
| ], |
| "place(brown_bottle, plastic_bag)": [], |
| "move_to(none, blue_bottle)": [ |
| "grasp(blue_bottle)" |
| ], |
| "grasp(blue_bottle)": [ |
| "pick_up(blue_bottle)" |
| ], |
| "pick_up(blue_bottle)": [ |
| "move_to(blue_bottle, plastic_bag)" |
| ], |
| "move_to(blue_bottle, plastic_bag)": [ |
| "place(blue_bottle, plastic_bag)" |
| ], |
| "place(blue_bottle, plastic_bag)": [], |
| "move_to(none, orange_bottle)": [ |
| "grasp(orange_bottle)" |
| ], |
| "grasp(orange_bottle)": [ |
| "pick_up(orange_bottle)" |
| ], |
| "pick_up(orange_bottle)": [ |
| "move_to(orange_bottle, plastic_bag)" |
| ], |
| "move_to(orange_bottle, plastic_bag)": [ |
| "place(orange_bottle, plastic_bag)" |
| ], |
| "place(orange_bottle, plastic_bag)": [], |
| "move_to(none, pink_bottle)": [ |
| "grasp(pink_bottle)" |
| ], |
| "grasp(pink_bottle)": [ |
| "pick_up(pink_bottle)" |
| ], |
| "pick_up(pink_bottle)": [ |
| "move_to(pink_bottle, plastic_bag)" |
| ], |
| "move_to(pink_bottle, plastic_bag)": [ |
| "place(pink_bottle, plastic_bag)" |
| ], |
| "place(pink_bottle, plastic_bag)": [], |
| "move_to(none, yellow_bottle)": [ |
| "grasp(yellow_bottle)" |
| ], |
| "grasp(yellow_bottle)": [ |
| "pick_up(yellow_bottle)" |
| ], |
| "pick_up(yellow_bottle)": [ |
| "move_to(yellow_bottle, plastic_bag)" |
| ], |
| "move_to(yellow_bottle, plastic_bag)": [ |
| "place(yellow_bottle, plastic_bag)" |
| ], |
| "place(yellow_bottle, plastic_bag)": [], |
| "move_to(none, purple_bottle)": [ |
| "grasp(purple_bottle)" |
| ], |
| "grasp(purple_bottle)": [ |
| "pick_up(purple_bottle)" |
| ], |
| "pick_up(purple_bottle)": [ |
| "move_to(purple_bottle, plastic_bag)" |
| ], |
| "move_to(purple_bottle, plastic_bag)": [ |
| "place(purple_bottle, plastic_bag)" |
| ], |
| "place(purple_bottle, plastic_bag)": [], |
| "move_to(none, strawberry)": [ |
| "grasp(strawberry)" |
| ], |
| "grasp(strawberry)": [ |
| "pick_up(strawberry)" |
| ], |
| "pick_up(strawberry)": [ |
| "move_to(strawberry, plastic_bag)" |
| ], |
| "move_to(strawberry, plastic_bag)": [ |
| "place(strawberry, plastic_bag)" |
| ], |
| "place(strawberry, plastic_bag)": [], |
| "move_to(none, brown_doll)": [ |
| "grasp(brown_doll)" |
| ], |
| "grasp(brown_doll)": [ |
| "pick_up(brown_doll)" |
| ], |
| "pick_up(brown_doll)": [ |
| "move_to(brown_doll, plastic_bag)" |
| ], |
| "move_to(brown_doll, plastic_bag)": [ |
| "place(brown_doll, plastic_bag)" |
| ], |
| "place(brown_doll, plastic_bag)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_598.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1102", |
| "actions_list": [ |
| "move_to(none, left_shoe)", |
| "grasp(left_shoe)", |
| "turn(left_shoe, clockwise, parallel_to_the_desktop)", |
| "place(left_shoe, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, left_shoe)": [ |
| "grasp(left_shoe)" |
| ], |
| "grasp(left_shoe)": [ |
| "turn(left_shoe, clockwise, parallel_to_the_desktop)" |
| ], |
| "turn(left_shoe, clockwise, parallel_to_the_desktop)": [ |
| "place(left_shoe, table)" |
| ], |
| "place(left_shoe, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1102.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_334", |
| "actions_list": [ |
| "move_to(none, can)", |
| "grasp(can)", |
| "pick_up(can)", |
| "move_to(can, glass)", |
| "pour(can, water, glass)", |
| "move_to(can, table)", |
| "place(can, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, can)": [ |
| "grasp(can)" |
| ], |
| "grasp(can)": [ |
| "pick_up(can)" |
| ], |
| "pick_up(can)": [ |
| "move_to(can, glass)" |
| ], |
| "move_to(can, glass)": [ |
| "pour(can, water, glass)" |
| ], |
| "pour(can, water, glass)": [ |
| "move_to(can, table)" |
| ], |
| "move_to(can, table)": [ |
| "place(can, table)" |
| ], |
| "place(can, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_334.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_604", |
| "actions_list": [ |
| "move_to(none, rightmost_door)", |
| "grasp(rightmost_door)", |
| "push(rightmost_door, close)", |
| "move_to(none, middle_door_handle)", |
| "grasp(middle_door_handle)", |
| "pull(middle_door, open)" |
| ], |
| "gt_dag": { |
| "move_to(none, rightmost_door)": [ |
| "grasp(rightmost_door)" |
| ], |
| "grasp(rightmost_door)": [ |
| "push(rightmost_door, close)" |
| ], |
| "push(rightmost_door, close)": [], |
| "move_to(none, middle_door_handle)": [ |
| "grasp(middle_door_handle)" |
| ], |
| "grasp(middle_door_handle)": [ |
| "pull(middle_door, open)" |
| ], |
| "pull(middle_door, open)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_604.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_757", |
| "actions_list": [ |
| "move_to(none, white_dish)", |
| "grasp(white_dish)", |
| "pick_up(dish)", |
| "move_to(dish, microwave)", |
| "place(dish, microwave)", |
| "move_to(none, microwave_door)", |
| "grasp(microwave_door)", |
| "push(microwave_door, close)" |
| ], |
| "gt_dag": { |
| "move_to(none, white_dish)": [ |
| "grasp(white_dish)" |
| ], |
| "grasp(white_dish)": [ |
| "pick_up(dish)" |
| ], |
| "pick_up(dish)": [ |
| "move_to(dish, microwave)" |
| ], |
| "move_to(dish, microwave)": [ |
| "place(dish, microwave)" |
| ], |
| "place(dish, microwave)": [ |
| "move_to(none, microwave_door)" |
| ], |
| "move_to(none, microwave_door)": [ |
| "grasp(microwave_door)" |
| ], |
| "grasp(microwave_door)": [ |
| "push(microwave_door, close)" |
| ], |
| "push(microwave_door, close)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_757.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_408", |
| "actions_list": [ |
| "move_to(none, rightest_trash)", |
| "grasp(rightest_trash)", |
| "pick_up(rightest_trash)", |
| "move_to(rightest_trash, trash_can)", |
| "place(rightest_trash, trash_can)", |
| "move_to(none, second_trash_on_the_left)", |
| "grasp(second_trash_on_the_left)", |
| "pick_up(second_trash_on_the_left)", |
| "move_to(second_trash_on_the_left, trash_can)", |
| "place(second_trash_on_the_left, trash_can)", |
| "move_to(none, third_trash_on_the_left)", |
| "grasp(third_trash_on_the_left)", |
| "pick_up(third_trash_on_the_left)", |
| "move_to(third_trash_on_the_left, trash_can)", |
| "place(third_trash_on_the_left, trash_can)", |
| "move_to(none, leftest_trash)", |
| "grasp(leftest_trash)", |
| "pick_up(leftest_trash)", |
| "move_to(leftest_trash, trash_can)", |
| "place(leftest_trash, trash_can)" |
| ], |
| "gt_dag": { |
| "move_to(none, rightest_trash)": [ |
| "grasp(rightest_trash)" |
| ], |
| "grasp(rightest_trash)": [ |
| "pick_up(rightest_trash)" |
| ], |
| "pick_up(rightest_trash)": [ |
| "move_to(rightest_trash, trash_can)" |
| ], |
| "move_to(rightest_trash, trash_can)": [ |
| "place(rightest_trash, trash_can)" |
| ], |
| "place(rightest_trash, trash_can)": [], |
| "move_to(none, second_trash_on_the_left)": [ |
| "grasp(second_trash_on_the_left)" |
| ], |
| "grasp(second_trash_on_the_left)": [ |
| "pick_up(second_trash_on_the_left)" |
| ], |
| "pick_up(second_trash_on_the_left)": [ |
| "move_to(second_trash_on_the_left, trash_can)" |
| ], |
| "move_to(second_trash_on_the_left, trash_can)": [ |
| "place(second_trash_on_the_left, trash_can)" |
| ], |
| "place(second_trash_on_the_left, trash_can)": [], |
| "move_to(none, third_trash_on_the_left)": [ |
| "grasp(third_trash_on_the_left)" |
| ], |
| "grasp(third_trash_on_the_left)": [ |
| "pick_up(third_trash_on_the_left)" |
| ], |
| "pick_up(third_trash_on_the_left)": [ |
| "move_to(third_trash_on_the_left, trash_can)" |
| ], |
| "move_to(third_trash_on_the_left, trash_can)": [ |
| "place(third_trash_on_the_left, trash_can)" |
| ], |
| "place(third_trash_on_the_left, trash_can)": [], |
| "move_to(none, leftest_trash)": [ |
| "grasp(leftest_trash)" |
| ], |
| "grasp(leftest_trash)": [ |
| "pick_up(leftest_trash)" |
| ], |
| "pick_up(leftest_trash)": [ |
| "move_to(leftest_trash, trash_can)" |
| ], |
| "move_to(leftest_trash, trash_can)": [ |
| "place(leftest_trash, trash_can)" |
| ], |
| "place(leftest_trash, trash_can)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_408.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_409", |
| "actions_list": [ |
| "move_to(none, trash)", |
| "grasp(trash)", |
| "pick_up(trash)", |
| "move_to(trash, countertop)", |
| "place(trash, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, trash)": [ |
| "grasp(trash)" |
| ], |
| "grasp(trash)": [ |
| "pick_up(trash)" |
| ], |
| "pick_up(trash)": [ |
| "move_to(trash, countertop)" |
| ], |
| "move_to(trash, countertop)": [ |
| "place(trash, countertop)" |
| ], |
| "place(trash, countertop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_409.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_17", |
| "actions_list": [ |
| "move_to(none, paint)", |
| "grasp(paint)", |
| "pick_up(paint)", |
| "move_to(paint, table)", |
| "place(paint, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, paint)": [ |
| "grasp(paint)" |
| ], |
| "grasp(paint)": [ |
| "pick_up(paint)" |
| ], |
| "pick_up(paint)": [ |
| "move_to(paint, table)" |
| ], |
| "move_to(paint, table)": [ |
| "place(paint, table)" |
| ], |
| "place(paint, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_17.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_684", |
| "actions_list": [ |
| "move_to(none, white_drawer_handle)", |
| "grasp(white_drawer_handle)", |
| "push(white_drawer, inward)" |
| ], |
| "gt_dag": { |
| "move_to(none, white_drawer_handle)": [ |
| "grasp(white_drawer_handle)" |
| ], |
| "grasp(white_drawer_handle)": [ |
| "push(white_drawer, inward)" |
| ], |
| "push(white_drawer, inward)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_684.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_326", |
| "actions_list": [ |
| "move_to(none, spoon_handle)", |
| "grasp(spoon_handle)", |
| "pick_up(spoon)", |
| "scoop(spoon, sprinkles, plate)", |
| "move_to(spoon_with_sprinkles, cup)", |
| "pour(spoon, sprinkles, cup)", |
| "move_to(spoon, table)", |
| "place(spoon, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, spoon_handle)": [ |
| "grasp(spoon_handle)" |
| ], |
| "grasp(spoon_handle)": [ |
| "pick_up(spoon)" |
| ], |
| "pick_up(spoon)": [ |
| "scoop(spoon, sprinkles, plate)" |
| ], |
| "scoop(spoon, sprinkles, plate)": [ |
| "move_to(spoon_with_sprinkles, cup)" |
| ], |
| "move_to(spoon_with_sprinkles, cup)": [ |
| "pour(spoon, sprinkles, cup)" |
| ], |
| "pour(spoon, sprinkles, cup)": [ |
| "move_to(spoon, table)" |
| ], |
| "move_to(spoon, table)": [ |
| "place(spoon, table)" |
| ], |
| "place(spoon, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_326.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_258", |
| "actions_list": [ |
| "move_to(none, first_rope)", |
| "grasp(first_rope)", |
| "pick_up(first_rope)", |
| "move_to(first_rope, box)", |
| "place(first_rope, box)", |
| "move_to(none, second_rope)", |
| "grasp(second_rope)", |
| "pick_up(second_rope)", |
| "move_to(second_rope, box)", |
| "place(second_rope, box)", |
| "move_to(none, third_rope)", |
| "grasp(third_rope)", |
| "pick_up(third_rope)", |
| "move_to(third_rope, box)", |
| "place(third_rope, box)" |
| ], |
| "gt_dag": { |
| "move_to(none, first_rope)": [ |
| "grasp(first_rope)" |
| ], |
| "grasp(first_rope)": [ |
| "pick_up(first_rope)" |
| ], |
| "pick_up(first_rope)": [ |
| "move_to(first_rope, box)" |
| ], |
| "move_to(first_rope, box)": [ |
| "place(first_rope, box)" |
| ], |
| "place(first_rope, box)": [], |
| "move_to(none, second_rope)": [ |
| "grasp(second_rope)" |
| ], |
| "grasp(second_rope)": [ |
| "pick_up(second_rope)" |
| ], |
| "pick_up(second_rope)": [ |
| "move_to(second_rope, box)" |
| ], |
| "move_to(second_rope, box)": [ |
| "place(second_rope, box)" |
| ], |
| "place(second_rope, box)": [], |
| "move_to(none, third_rope)": [ |
| "grasp(third_rope)" |
| ], |
| "grasp(third_rope)": [ |
| "pick_up(third_rope)" |
| ], |
| "pick_up(third_rope)": [ |
| "move_to(third_rope, box)" |
| ], |
| "move_to(third_rope, box)": [ |
| "place(third_rope, box)" |
| ], |
| "place(third_rope, box)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_258.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_172", |
| "actions_list": [ |
| "move_to(none, towel)", |
| "grasp(towel)", |
| "wipe(towel, none, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, towel)": [ |
| "grasp(towel)" |
| ], |
| "grasp(towel)": [ |
| "wipe(towel, none, table)" |
| ], |
| "wipe(towel, none, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_172.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1704", |
| "actions_list": [ |
| "move_to(none, detergent)", |
| "grasp(detergent)", |
| "pick_up(detergent)", |
| "move_to(detergent, washing_machine_box)", |
| "pour(detergent, detergent, washing_machine_box)" |
| ], |
| "gt_dag": { |
| "move_to(none, detergent)": [ |
| "grasp(detergent)" |
| ], |
| "grasp(detergent)": [ |
| "pick_up(detergent)" |
| ], |
| "pick_up(detergent)": [ |
| "move_to(detergent, washing_machine_box)" |
| ], |
| "move_to(detergent, washing_machine_box)": [ |
| "pour(detergent, detergent, washing_machine_box)" |
| ], |
| "pour(detergent, detergent, washing_machine_box)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1704.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_81", |
| "actions_list": [ |
| "move_to(none, chair)", |
| "grasp(chair)", |
| "push(chair, under_the_table)" |
| ], |
| "gt_dag": { |
| "move_to(none, chair)": [ |
| "grasp(chair)" |
| ], |
| "grasp(chair)": [ |
| "push(chair, under_the_table)" |
| ], |
| "push(chair, under_the_table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_81.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1556", |
| "actions_list": [ |
| "move_to(none, first_pear)", |
| "grasp(first_pear)", |
| "pick_up(first_pear)", |
| "move_to(first_pear, table)", |
| "place(first_pear, table)", |
| "move_to(none, second_pear)", |
| "grasp(second_pear)", |
| "pick_up(second_pear)", |
| "move_to(second_pear, table)", |
| "place(second_pear, table)", |
| "move_to(none, third_pear)", |
| "grasp(third_pear)", |
| "pick_up(third_pear)", |
| "move_to(third_pear, table)", |
| "place(third_pear, table)", |
| "move_to(none, fourth_pear)", |
| "grasp(fourth_pear)", |
| "pick_up(fourth_pear)", |
| "move_to(fourth_pear, table)", |
| "place(fourth_pear, table)", |
| "move_to(none, apple)", |
| "grasp(apple)", |
| "pick_up(apple)", |
| "move_to(apple, table)", |
| "place(apple, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, first_pear)": [ |
| "grasp(first_pear)" |
| ], |
| "grasp(first_pear)": [ |
| "pick_up(first_pear)" |
| ], |
| "pick_up(first_pear)": [ |
| "move_to(first_pear, table)" |
| ], |
| "move_to(first_pear, table)": [ |
| "place(first_pear, table)" |
| ], |
| "place(first_pear, table)": [], |
| "move_to(none, second_pear)": [ |
| "grasp(second_pear)" |
| ], |
| "grasp(second_pear)": [ |
| "pick_up(second_pear)" |
| ], |
| "pick_up(second_pear)": [ |
| "move_to(second_pear, table)" |
| ], |
| "move_to(second_pear, table)": [ |
| "place(second_pear, table)" |
| ], |
| "place(second_pear, table)": [], |
| "move_to(none, third_pear)": [ |
| "grasp(third_pear)" |
| ], |
| "grasp(third_pear)": [ |
| "pick_up(third_pear)" |
| ], |
| "pick_up(third_pear)": [ |
| "move_to(third_pear, table)" |
| ], |
| "move_to(third_pear, table)": [ |
| "place(third_pear, table)" |
| ], |
| "place(third_pear, table)": [], |
| "move_to(none, fourth_pear)": [ |
| "grasp(fourth_pear)" |
| ], |
| "grasp(fourth_pear)": [ |
| "pick_up(fourth_pear)" |
| ], |
| "pick_up(fourth_pear)": [ |
| "move_to(fourth_pear, table)" |
| ], |
| "move_to(fourth_pear, table)": [ |
| "place(fourth_pear, table)" |
| ], |
| "place(fourth_pear, table)": [], |
| "move_to(none, apple)": [ |
| "grasp(apple)" |
| ], |
| "grasp(apple)": [ |
| "pick_up(apple)" |
| ], |
| "pick_up(apple)": [ |
| "move_to(apple, table)" |
| ], |
| "move_to(apple, table)": [ |
| "place(apple, table)" |
| ], |
| "place(apple, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1556.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_843", |
| "actions_list": [ |
| "move_to(none, pasta)", |
| "grasp(pasta)", |
| "pick_up(pasta)", |
| "move_to(pasta, pot)", |
| "pour(paper_box, pasta, pot)", |
| "move_to(pasta, table)", |
| "place(pasta, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, pasta)": [ |
| "grasp(pasta)" |
| ], |
| "grasp(pasta)": [ |
| "pick_up(pasta)" |
| ], |
| "pick_up(pasta)": [ |
| "move_to(pasta, pot)" |
| ], |
| "move_to(pasta, pot)": [ |
| "pour(paper_box, pasta, pot)" |
| ], |
| "pour(paper_box, pasta, pot)": [ |
| "move_to(pasta, table)" |
| ], |
| "move_to(pasta, table)": [ |
| "place(pasta, table)" |
| ], |
| "place(pasta, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_843.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_919", |
| "actions_list": [ |
| "move_to(none, first_black_block)", |
| "grasp(first_black_block)", |
| "grasp(first_black_block)", |
| "move_to(first_black_block, drawer)", |
| "place(first_black_block, drawer)", |
| "move_to(none, second_black_block)", |
| "grasp(second_black_block)", |
| "grasp(second_black_block)", |
| "move_to(second_black_block, drawer)", |
| "place(second_black_block, drawer)", |
| "move_to(none, third_black_block)", |
| "grasp(third_black_block)", |
| "grasp(third_black_block)", |
| "move_to(third_black_block, drawer)", |
| "place(third_black_block, drawer)", |
| "move_to(none, drawer_handle)", |
| "grasp(drawer_handle)", |
| "push(drawer_handle, close)" |
| ], |
| "gt_dag": { |
| "move_to(none, first_black_block)": [ |
| "grasp(first_black_block)" |
| ], |
| "grasp(first_black_block)": [ |
| "move_to(first_black_block, drawer)" |
| ], |
| "grasp(first_black_block)<1>": [], |
| "move_to(first_black_block, drawer)": [ |
| "place(first_black_block, drawer)" |
| ], |
| "place(first_black_block, drawer)": [], |
| "move_to(none, second_black_block)": [ |
| "grasp(second_black_block)" |
| ], |
| "grasp(second_black_block)": [ |
| "move_to(second_black_block, drawer)" |
| ], |
| "grasp(second_black_block)<1>": [], |
| "move_to(second_black_block, drawer)": [ |
| "place(second_black_block, drawer)" |
| ], |
| "place(second_black_block, drawer)": [], |
| "move_to(none, third_black_block)": [ |
| "grasp(third_black_block)" |
| ], |
| "grasp(third_black_block)": [ |
| "move_to(third_black_block, drawer)" |
| ], |
| "grasp(third_black_block)<1>": [], |
| "move_to(third_black_block, drawer)": [ |
| "place(third_black_block, drawer)" |
| ], |
| "place(third_black_block, drawer)": [ |
| "move_to(none, drawer_handle)" |
| ], |
| "move_to(none, drawer_handle)": [ |
| "grasp(drawer_handle)" |
| ], |
| "grasp(drawer_handle)": [ |
| "push(drawer_handle, close)" |
| ], |
| "push(drawer_handle, close)": [], |
| "grasp(first_black_block)<2>": [], |
| "grasp(second_black_block)<2>": [], |
| "grasp(third_black_block)<2>": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_919.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_387", |
| "actions_list": [ |
| "move_to(none, bowl)", |
| "grasp(bowl)", |
| "pick_up(bowl)", |
| "move_to(bowl, the_third_cabinet)", |
| "place(bowl, the_third_cabinet)" |
| ], |
| "gt_dag": { |
| "move_to(none, bowl)": [ |
| "grasp(bowl)" |
| ], |
| "grasp(bowl)": [ |
| "pick_up(bowl)" |
| ], |
| "pick_up(bowl)": [ |
| "move_to(bowl, the_third_cabinet)" |
| ], |
| "move_to(bowl, the_third_cabinet)": [ |
| "place(bowl, the_third_cabinet)" |
| ], |
| "place(bowl, the_third_cabinet)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_387.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_2124", |
| "actions_list": [ |
| "move_to(none, screwdriver)", |
| "grasp(screwdriver)", |
| "pick_up(screwdriver)", |
| "move_to(screwdriver, drawer)", |
| "place(screwdriver, drawer)", |
| "move_to(none, drawer_handle)", |
| "grasp(drawer_handle)", |
| "push(drawer)" |
| ], |
| "gt_dag": { |
| "move_to(none, screwdriver)": [ |
| "grasp(screwdriver)" |
| ], |
| "grasp(screwdriver)": [ |
| "pick_up(screwdriver)" |
| ], |
| "pick_up(screwdriver)": [ |
| "move_to(screwdriver, drawer)" |
| ], |
| "move_to(screwdriver, drawer)": [ |
| "place(screwdriver, drawer)" |
| ], |
| "place(screwdriver, drawer)": [ |
| "move_to(none, drawer_handle)" |
| ], |
| "move_to(none, drawer_handle)": [ |
| "grasp(drawer_handle)" |
| ], |
| "grasp(drawer_handle)": [ |
| "push(drawer)" |
| ], |
| "push(drawer)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_2124.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1479", |
| "actions_list": [ |
| "move_to(none, washing_machine_lid)", |
| "grasp(washing_machine_lid_handle)", |
| "push(washing_machine_lid, close)" |
| ], |
| "gt_dag": { |
| "move_to(none, washing_machine_lid)": [ |
| "grasp(washing_machine_lid_handle)" |
| ], |
| "grasp(washing_machine_lid_handle)": [ |
| "push(washing_machine_lid, close)" |
| ], |
| "push(washing_machine_lid, close)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1479.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_687", |
| "actions_list": [ |
| "move_to(none, cup_handle)", |
| "grasp(cup_handle)", |
| "pick_up(cup)", |
| "move_to(cup, left_side_of_the_table)", |
| "place(cup, left_side_of_the_table)" |
| ], |
| "gt_dag": { |
| "move_to(none, cup_handle)": [ |
| "grasp(cup_handle)" |
| ], |
| "grasp(cup_handle)": [ |
| "pick_up(cup)" |
| ], |
| "pick_up(cup)": [ |
| "move_to(cup, left_side_of_the_table)" |
| ], |
| "move_to(cup, left_side_of_the_table)": [ |
| "place(cup, left_side_of_the_table)" |
| ], |
| "place(cup, left_side_of_the_table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_687.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1360", |
| "actions_list": [ |
| "move_to(none, right_cup)", |
| "move_to(none, right_cup)", |
| "pick_up(right_cup)", |
| "move_to(right_cup, middle_cup)", |
| "place(right_cup, middle_cup)", |
| "move_to(none, middle_cup)", |
| "grasp(middle_cup)", |
| "pick_up(middle_cup)", |
| "move_to(middle_cup, left_cup)", |
| "place(middle_cup, left_cup)" |
| ], |
| "gt_dag": { |
| "move_to(none, right_cup)": [ |
| "pick_up(right_cup)" |
| ], |
| "move_to(none, right_cup)<1>": [], |
| "pick_up(right_cup)": [ |
| "move_to(right_cup, middle_cup)" |
| ], |
| "move_to(right_cup, middle_cup)": [ |
| "place(right_cup, middle_cup)" |
| ], |
| "place(right_cup, middle_cup)": [], |
| "move_to(none, middle_cup)": [ |
| "grasp(middle_cup)" |
| ], |
| "grasp(middle_cup)": [ |
| "pick_up(middle_cup)" |
| ], |
| "pick_up(middle_cup)": [ |
| "move_to(middle_cup, left_cup)" |
| ], |
| "move_to(middle_cup, left_cup)": [ |
| "place(middle_cup, left_cup)" |
| ], |
| "place(middle_cup, left_cup)": [], |
| "move_to(none, right_cup)<2>": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_1360.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_342", |
| "actions_list": [ |
| "move_to(none, bowl)", |
| "grasp(bowl)", |
| "pick_up(bowl)", |
| "move_to(bowl, under_of_the_faucet)", |
| "place(bowl, under_of_the_faucet)", |
| "move_to(none, faucet_handle)", |
| "grasp(faucet_handle)", |
| "turn(faucet, clockwise, left)", |
| "turn(faucet, anticlockwise, right)", |
| "move_to(none, bowl)", |
| "grasp(bowl)", |
| "pick_up(bowl)" |
| ], |
| "gt_dag": { |
| "move_to(none, bowl)": [ |
| "grasp(bowl)" |
| ], |
| "grasp(bowl)": [ |
| "pick_up(bowl)" |
| ], |
| "pick_up(bowl)": [ |
| "move_to(bowl, under_of_the_faucet)" |
| ], |
| "move_to(bowl, under_of_the_faucet)": [ |
| "place(bowl, under_of_the_faucet)" |
| ], |
| "place(bowl, under_of_the_faucet)": [], |
| "move_to(none, faucet_handle)": [ |
| "grasp(faucet_handle)" |
| ], |
| "grasp(faucet_handle)": [ |
| "turn(faucet, clockwise, left)" |
| ], |
| "turn(faucet, clockwise, left)": [ |
| "turn(faucet, anticlockwise, right)" |
| ], |
| "turn(faucet, anticlockwise, right)": [ |
| "move_to(none, bowl)<2>" |
| ], |
| "move_to(none, bowl)<1>": [], |
| "grasp(bowl)<1>": [], |
| "pick_up(bowl)<1>": [], |
| "move_to(none, bowl)<2>": [ |
| "grasp(bowl)<2>" |
| ], |
| "grasp(bowl)<2>": [ |
| "pick_up(bowl)<2>" |
| ], |
| "pick_up(bowl)<2>": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_342.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_261", |
| "actions_list": [ |
| "move_to(none, orange_bottle)", |
| "grasp(orange_bottle)", |
| "pick_up(orange_bottle)", |
| "move_to(orange_bottle, plate)", |
| "place(orange_bottle, plate)", |
| "move_to(none, rightest_white_bottle)", |
| "grasp(rightest_white_bottle)", |
| "pick_up(rightest_white_bottlee)", |
| "move_to(rightest_white_bottle, plate)", |
| "place(rightest_white_bottle, plate)", |
| "move_to(none, middle_white_bottle)", |
| "grasp(middle_white_bottle)", |
| "pick_up(middle_white_bottle)", |
| "move_to(middle_white_bottle, plate)", |
| "place(middle_white_bottle, plate)", |
| "move_to(none, leftest_white_bottle)", |
| "grasp(leftest_white_bottle)", |
| "pick_up(leftest_white_bottle)", |
| "move_to(leftest_white_bottle, plate)", |
| "place(leftest_white_bottle, plate)", |
| "move_to(none, brown_bottle)", |
| "grasp(brown_bottle)", |
| "pick_up(brown_bottle)", |
| "move_to(brown_bottle, plate)", |
| "place(brown_bottle, plate)", |
| "move_to(none, strawberry)", |
| "grasp(strawberry)", |
| "pick_up(strawberry)", |
| "move_to(strawberry, plate)", |
| "place(strawberry, plate)", |
| "move_to(none, left_big_box)", |
| "grasp(left_big_box)", |
| "pick_up(left_big_box)", |
| "move_to(left_big_box, black_cube)", |
| "place(left_big_box, black_cube)", |
| "move_to(none, right_big_box)", |
| "grasp(right_big_box)", |
| "pick_up(right_big_box)", |
| "move_to(right_big_box, black_cube)", |
| "place(right_big_box, black_cube)", |
| "move_to(none, small_box)", |
| "grasp(small_box)", |
| "pick_up(small_box)", |
| "move_to(small_box, black_cube)", |
| "place(small_box, black_cube)" |
| ], |
| "gt_dag": { |
| "move_to(none, orange_bottle)": [ |
| "grasp(orange_bottle)" |
| ], |
| "grasp(orange_bottle)": [ |
| "pick_up(orange_bottle)" |
| ], |
| "pick_up(orange_bottle)": [ |
| "move_to(orange_bottle, plate)" |
| ], |
| "move_to(orange_bottle, plate)": [ |
| "place(orange_bottle, plate)" |
| ], |
| "place(orange_bottle, plate)": [], |
| "move_to(none, rightest_white_bottle)": [ |
| "grasp(rightest_white_bottle)" |
| ], |
| "grasp(rightest_white_bottle)": [ |
| "pick_up(rightest_white_bottlee)" |
| ], |
| "pick_up(rightest_white_bottlee)": [ |
| "move_to(rightest_white_bottle, plate)" |
| ], |
| "move_to(rightest_white_bottle, plate)": [ |
| "place(rightest_white_bottle, plate)" |
| ], |
| "place(rightest_white_bottle, plate)": [], |
| "move_to(none, middle_white_bottle)": [ |
| "grasp(middle_white_bottle)" |
| ], |
| "grasp(middle_white_bottle)": [ |
| "pick_up(middle_white_bottle)" |
| ], |
| "pick_up(middle_white_bottle)": [ |
| "move_to(middle_white_bottle, plate)" |
| ], |
| "move_to(middle_white_bottle, plate)": [ |
| "place(middle_white_bottle, plate)" |
| ], |
| "place(middle_white_bottle, plate)": [], |
| "move_to(none, leftest_white_bottle)": [ |
| "grasp(leftest_white_bottle)" |
| ], |
| "grasp(leftest_white_bottle)": [ |
| "pick_up(leftest_white_bottle)" |
| ], |
| "pick_up(leftest_white_bottle)": [ |
| "move_to(leftest_white_bottle, plate)" |
| ], |
| "move_to(leftest_white_bottle, plate)": [ |
| "place(leftest_white_bottle, plate)" |
| ], |
| "place(leftest_white_bottle, plate)": [], |
| "move_to(none, brown_bottle)": [ |
| "grasp(brown_bottle)" |
| ], |
| "grasp(brown_bottle)": [ |
| "pick_up(brown_bottle)" |
| ], |
| "pick_up(brown_bottle)": [ |
| "move_to(brown_bottle, plate)" |
| ], |
| "move_to(brown_bottle, plate)": [ |
| "place(brown_bottle, plate)" |
| ], |
| "place(brown_bottle, plate)": [], |
| "move_to(none, strawberry)": [ |
| "grasp(strawberry)" |
| ], |
| "grasp(strawberry)": [ |
| "pick_up(strawberry)" |
| ], |
| "pick_up(strawberry)": [ |
| "move_to(strawberry, plate)" |
| ], |
| "move_to(strawberry, plate)": [ |
| "place(strawberry, plate)" |
| ], |
| "place(strawberry, plate)": [], |
| "move_to(none, left_big_box)": [ |
| "grasp(left_big_box)" |
| ], |
| "grasp(left_big_box)": [ |
| "pick_up(left_big_box)" |
| ], |
| "pick_up(left_big_box)": [ |
| "move_to(left_big_box, black_cube)" |
| ], |
| "move_to(left_big_box, black_cube)": [ |
| "place(left_big_box, black_cube)" |
| ], |
| "place(left_big_box, black_cube)": [], |
| "move_to(none, right_big_box)": [ |
| "grasp(right_big_box)" |
| ], |
| "grasp(right_big_box)": [ |
| "pick_up(right_big_box)" |
| ], |
| "pick_up(right_big_box)": [ |
| "move_to(right_big_box, black_cube)" |
| ], |
| "move_to(right_big_box, black_cube)": [ |
| "place(right_big_box, black_cube)" |
| ], |
| "place(right_big_box, black_cube)": [], |
| "move_to(none, small_box)": [ |
| "grasp(small_box)" |
| ], |
| "grasp(small_box)": [ |
| "pick_up(small_box)" |
| ], |
| "pick_up(small_box)": [ |
| "move_to(small_box, black_cube)" |
| ], |
| "move_to(small_box, black_cube)": [ |
| "place(small_box, black_cube)" |
| ], |
| "place(small_box, black_cube)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_261.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_20", |
| "actions_list": [ |
| "move_to(towel)", |
| "grasp(towel)", |
| "wipe(towel, none, table)" |
| ], |
| "gt_dag": { |
| "move_to(towel)": [ |
| "grasp(towel)" |
| ], |
| "grasp(towel)": [ |
| "wipe(towel, none, table)" |
| ], |
| "wipe(towel, none, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_20.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1", |
| "actions_list": [ |
| "move_to(none, cloth)", |
| "grasp(cloth)", |
| "wipe(cloth, none, table)", |
| "place(cloth, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "wipe(cloth, none, table)" |
| ], |
| "wipe(cloth, none, table)": [ |
| "place(cloth, table)" |
| ], |
| "place(cloth, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1", |
| "actions_list": [ |
| "move_to(none, spoon_handle)", |
| "grasp(spoon_handle)", |
| "pick_up(spoon)", |
| "move_to(spoon, pot)", |
| "scoop(spoon, water, pot)", |
| "move_to(spoon, glass_bowl)", |
| "pour(spoon, water, glass_bowl)", |
| "move_to(spoon, table)", |
| "place(spoon, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, spoon_handle)": [ |
| "grasp(spoon_handle)" |
| ], |
| "grasp(spoon_handle)": [ |
| "pick_up(spoon)" |
| ], |
| "pick_up(spoon)": [ |
| "move_to(spoon, pot)" |
| ], |
| "move_to(spoon, pot)": [ |
| "scoop(spoon, water, pot)" |
| ], |
| "scoop(spoon, water, pot)": [ |
| "move_to(spoon, glass_bowl)" |
| ], |
| "move_to(spoon, glass_bowl)": [ |
| "pour(spoon, water, glass_bowl)" |
| ], |
| "pour(spoon, water, glass_bowl)": [ |
| "move_to(spoon, table)" |
| ], |
| "move_to(spoon, table)": [ |
| "place(spoon, table)" |
| ], |
| "place(spoon, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1", |
| "actions_list": [ |
| "move_to(none, watering_can_handle)", |
| "grasp(watering_can_handle)", |
| "pick_up(watering_can)", |
| "move_to(watering_can, plant)", |
| "pour(watering_can, water, plant)", |
| "move_to(watering_can, table)", |
| "place(watering_can, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, watering_can_handle)": [ |
| "grasp(watering_can_handle)" |
| ], |
| "grasp(watering_can_handle)": [ |
| "pick_up(watering_can)" |
| ], |
| "pick_up(watering_can)": [ |
| "move_to(watering_can, plant)" |
| ], |
| "move_to(watering_can, plant)": [ |
| "pour(watering_can, water, plant)" |
| ], |
| "pour(watering_can, water, plant)": [ |
| "move_to(watering_can, table)" |
| ], |
| "move_to(watering_can, table)": [ |
| "place(watering_can, table)" |
| ], |
| "place(watering_can, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_55", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, cup)", |
| "pour(bottle, water, cup)", |
| "move_to(bottle, red_mat)", |
| "place(bottle, red_mat)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, cup)" |
| ], |
| "move_to(bottle, cup)": [ |
| "pour(bottle, water, cup)" |
| ], |
| "pour(bottle, water, cup)": [ |
| "move_to(bottle, red_mat)" |
| ], |
| "move_to(bottle, red_mat)": [ |
| "place(bottle, red_mat)" |
| ], |
| "place(bottle, red_mat)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_DSL_shrinked_pour_water_episode_55.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_870", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, cup)", |
| "pour(bottle, drink, cup)", |
| "move_to(bottle, red_mat)", |
| "place(bottle, red_mat)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, cup)" |
| ], |
| "move_to(bottle, cup)": [ |
| "pour(bottle, drink, cup)" |
| ], |
| "pour(bottle, drink, cup)": [ |
| "move_to(bottle, red_mat)" |
| ], |
| "move_to(bottle, red_mat)": [ |
| "place(bottle, red_mat)" |
| ], |
| "place(bottle, red_mat)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_DSL_shrinked_pour_water_episode_870.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_1789", |
| "actions_list": [ |
| "move_to(none, water_bottle)", |
| "grasp(water_bottle)", |
| "pick_up(water_bottle)", |
| "move_to(water_bottle, cup)", |
| "pour(water_bottle, water, cup)", |
| "move_to(water_bottle, red_mat)", |
| "place(water_bottle, red_mat)" |
| ], |
| "gt_dag": { |
| "move_to(none, water_bottle)": [ |
| "grasp(water_bottle)" |
| ], |
| "grasp(water_bottle)": [ |
| "pick_up(water_bottle)" |
| ], |
| "pick_up(water_bottle)": [ |
| "move_to(water_bottle, cup)" |
| ], |
| "move_to(water_bottle, cup)": [ |
| "pour(water_bottle, water, cup)" |
| ], |
| "pour(water_bottle, water, cup)": [ |
| "move_to(water_bottle, red_mat)" |
| ], |
| "move_to(water_bottle, red_mat)": [ |
| "place(water_bottle, red_mat)" |
| ], |
| "place(water_bottle, red_mat)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_DSL_shrinked_pour_water_episode_1789.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_2434", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, cup)", |
| "pour(bottle, water, cup)", |
| "move_to(bottle, red_mat)", |
| "place(bottle, red_mat)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, cup)" |
| ], |
| "move_to(bottle, cup)": [ |
| "pour(bottle, water, cup)" |
| ], |
| "pour(bottle, water, cup)": [ |
| "move_to(bottle, red_mat)" |
| ], |
| "move_to(bottle, red_mat)": [ |
| "place(bottle, red_mat)" |
| ], |
| "place(bottle, red_mat)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_DSL_shrinked_pour_water_episode_2434.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, glass)", |
| "pour(bottle, water, glass), ", |
| "move_to(bottle, right_side_of_the_cup)", |
| "place(bottle, right_side_of_the_table)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, glass)" |
| ], |
| "move_to(bottle, glass)": [ |
| "pour(bottle, water, glass), " |
| ], |
| "pour(bottle, water, glass), ": [ |
| "move_to(bottle, right_side_of_the_cup)" |
| ], |
| "move_to(bottle, right_side_of_the_cup)": [ |
| "place(bottle, right_side_of_the_table)" |
| ], |
| "place(bottle, right_side_of_the_table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_clean_pour_water_episode_17.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5", |
| "actions_list": [ |
| "move_to(none, ice_scoop_handle)", |
| "grasp(ice_scoop)", |
| "pick_up(ice_scoop)", |
| "move_to(ice_scoop, glass)", |
| "pour(ice_scoop, ice, glass)", |
| "move_to(ice_scoop, table)", |
| "place(ice_scoop, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, ice_scoop_handle)": [ |
| "grasp(ice_scoop)" |
| ], |
| "grasp(ice_scoop)": [ |
| "pick_up(ice_scoop)" |
| ], |
| "pick_up(ice_scoop)": [ |
| "move_to(ice_scoop, glass)" |
| ], |
| "move_to(ice_scoop, glass)": [ |
| "pour(ice_scoop, ice, glass)" |
| ], |
| "pour(ice_scoop, ice, glass)": [ |
| "move_to(ice_scoop, table)" |
| ], |
| "move_to(ice_scoop, table)": [ |
| "place(ice_scoop, table)" |
| ], |
| "place(ice_scoop, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_cocktail_sunset_ice_episode_5.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9", |
| "actions_list": [ |
| "move_to(none, orange_juice_measuring_cup)", |
| "grasp(orange_juice_measuring_cup)", |
| "pick_up(orange_juice_measuring_cup)", |
| "move_to(orange_juice_measuring_cup, goblet)", |
| "pour(orange_juice_measuring_cup, juice, goblet)", |
| "move_to(measuring_cup, table)", |
| "place(measuring_cup, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, orange_juice_measuring_cup)": [ |
| "grasp(orange_juice_measuring_cup)" |
| ], |
| "grasp(orange_juice_measuring_cup)": [ |
| "pick_up(orange_juice_measuring_cup)" |
| ], |
| "pick_up(orange_juice_measuring_cup)": [ |
| "move_to(orange_juice_measuring_cup, goblet)" |
| ], |
| "move_to(orange_juice_measuring_cup, goblet)": [ |
| "pour(orange_juice_measuring_cup, juice, goblet)" |
| ], |
| "pour(orange_juice_measuring_cup, juice, goblet)": [ |
| "move_to(measuring_cup, table)" |
| ], |
| "move_to(measuring_cup, table)": [ |
| "place(measuring_cup, table)" |
| ], |
| "place(measuring_cup, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_cocktail_sunset_orange_episode_9.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12", |
| "actions_list": [ |
| "move_to(none, yellow_juice_measuring_cup)", |
| "grasp(yellow_juice_measuring_cup)", |
| "pick_up(yellow_juice_measuring_cup)", |
| "move_to(yellow_juice_measuring_cup, goblet)", |
| "pour(yellow_juice_measuring_cup, yellow_juice, goblet)", |
| "move_to(measuring_cup, table)", |
| "place(measuring_cup, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, yellow_juice_measuring_cup)": [ |
| "grasp(yellow_juice_measuring_cup)" |
| ], |
| "grasp(yellow_juice_measuring_cup)": [ |
| "pick_up(yellow_juice_measuring_cup)" |
| ], |
| "pick_up(yellow_juice_measuring_cup)": [ |
| "move_to(yellow_juice_measuring_cup, goblet)" |
| ], |
| "move_to(yellow_juice_measuring_cup, goblet)": [ |
| "pour(yellow_juice_measuring_cup, yellow_juice, goblet)" |
| ], |
| "pour(yellow_juice_measuring_cup, yellow_juice, goblet)": [ |
| "move_to(measuring_cup, table)" |
| ], |
| "move_to(measuring_cup, table)": [ |
| "place(measuring_cup, table)" |
| ], |
| "place(measuring_cup, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_collect_earphone_episode_0", |
| "actions_list": [ |
| "left:no_ops, right:move_to(none, earphone_case)", |
| "left:no_ops, right:grasp(earphone_case)", |
| "left:no_ops, right:pick_up(earphone_case)", |
| "left:move_to(none, earphone_case), right:no_ops", |
| "transfer(right, left, earphone_case)", |
| "left:move_to(earphone_case, drawer), right:no_ops", |
| "left:place(earphone_case, drawer), right:no_ops", |
| "left:no_ops, right:move_to(none, drawer_handle)", |
| "left:no_ops, right:grasp(drawer_handle)", |
| "left:no_ops, right:push(drawer, close)" |
| ], |
| "gt_dag": { |
| "left:no_ops, right:move_to(none, earphone_case)": [ |
| "left:no_ops, right:grasp(earphone_case)" |
| ], |
| "left:no_ops, right:grasp(earphone_case)": [ |
| "left:no_ops, right:pick_up(earphone_case)" |
| ], |
| "left:no_ops, right:pick_up(earphone_case)": [ |
| "left:move_to(none, earphone_case), right:no_ops" |
| ], |
| "left:move_to(none, earphone_case), right:no_ops": [ |
| "transfer(right, left, earphone_case)" |
| ], |
| "transfer(right, left, earphone_case)": [ |
| "left:move_to(earphone_case, drawer), right:no_ops" |
| ], |
| "left:move_to(earphone_case, drawer), right:no_ops": [ |
| "left:place(earphone_case, drawer), right:no_ops" |
| ], |
| "left:place(earphone_case, drawer), right:no_ops": [ |
| "left:no_ops, right:move_to(none, drawer_handle)" |
| ], |
| "left:no_ops, right:move_to(none, drawer_handle)": [ |
| "left:no_ops, right:grasp(drawer_handle)" |
| ], |
| "left:no_ops, right:grasp(drawer_handle)": [ |
| "left:no_ops, right:push(drawer, close)" |
| ], |
| "left:no_ops, right:push(drawer, close)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_collect_earphone_episode_0.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13", |
| "actions_list": [ |
| "move_to(none, watering_can_handle)", |
| "grasp(watering_can_handle)", |
| "pick_up(watering_can)", |
| "move_to(watering_can, plant)", |
| "pour(watering_can, water, plant)", |
| "move_to(watering_can, table)", |
| "place(watering_can, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, watering_can_handle)": [ |
| "grasp(watering_can_handle)" |
| ], |
| "grasp(watering_can_handle)": [ |
| "pick_up(watering_can)" |
| ], |
| "pick_up(watering_can)": [ |
| "move_to(watering_can, plant)" |
| ], |
| "move_to(watering_can, plant)": [ |
| "pour(watering_can, water, plant)" |
| ], |
| "pour(watering_can, water, plant)": [ |
| "move_to(watering_can, table)" |
| ], |
| "move_to(watering_can, table)": [ |
| "place(watering_can, table)" |
| ], |
| "place(watering_can, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_flowering_fake_episode_13.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_5", |
| "actions_list": [ |
| "left:move_to(none, charging_cable), right:move_to(none, phone)", |
| "left:grasp(charging_cable), right:grasp(phone)", |
| "left:pick_up(charging_cabe), right:pick_up(phone)", |
| "left:move_to(cable, phone_charging_port), right:hold(phone)", |
| "left:insert(cable, phone_charging_port), right:hold(phone)", |
| "left:no_ops, right:move_to(phone, table)", |
| "left:no_ops, right:place(phone, table)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, charging_cable), right:move_to(none, phone)": [ |
| "left:grasp(charging_cable), right:grasp(phone)" |
| ], |
| "left:grasp(charging_cable), right:grasp(phone)": [ |
| "left:pick_up(charging_cabe), right:pick_up(phone)" |
| ], |
| "left:pick_up(charging_cabe), right:pick_up(phone)": [ |
| "left:move_to(cable, phone_charging_port), right:hold(phone)" |
| ], |
| "left:move_to(cable, phone_charging_port), right:hold(phone)": [ |
| "left:insert(cable, phone_charging_port), right:hold(phone)" |
| ], |
| "left:insert(cable, phone_charging_port), right:hold(phone)": [ |
| "left:no_ops, right:move_to(phone, table)" |
| ], |
| "left:no_ops, right:move_to(phone, table)": [ |
| "left:no_ops, right:place(phone, table)" |
| ], |
| "left:no_ops, right:place(phone, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_insert_phone_2_episode_5.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_23", |
| "actions_list": [ |
| "left:move_to(none, charging_cable), right:move_to(none, phone)", |
| "left:grasp(charging_cable), right:grasp(phone)", |
| "left:pick_up(charging_cabe), right:pick_up(phone)", |
| "left:move_to(cable, phone_charging_port), right:hold(phone)", |
| "left:insert(cable, phone_charging_port), right:hold(phone)", |
| "left:no_ops, right:move_to(phone, table)", |
| "left:no_ops, right:place(phone, table)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, charging_cable), right:move_to(none, phone)": [ |
| "left:grasp(charging_cable), right:grasp(phone)" |
| ], |
| "left:grasp(charging_cable), right:grasp(phone)": [ |
| "left:pick_up(charging_cabe), right:pick_up(phone)" |
| ], |
| "left:pick_up(charging_cabe), right:pick_up(phone)": [ |
| "left:move_to(cable, phone_charging_port), right:hold(phone)" |
| ], |
| "left:move_to(cable, phone_charging_port), right:hold(phone)": [ |
| "left:insert(cable, phone_charging_port), right:hold(phone)" |
| ], |
| "left:insert(cable, phone_charging_port), right:hold(phone)": [ |
| "left:no_ops, right:move_to(phone, table)" |
| ], |
| "left:no_ops, right:move_to(phone, table)": [ |
| "left:no_ops, right:place(phone, table)" |
| ], |
| "left:no_ops, right:place(phone, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_insert_phone_2_episode_23.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, mug)", |
| "pour(bottle, water, mug)", |
| "move_to(bottle, table)", |
| "place(bottle, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, mug)" |
| ], |
| "move_to(bottle, mug)": [ |
| "pour(bottle, water, mug)" |
| ], |
| "pour(bottle, water, mug)": [ |
| "move_to(bottle, table)" |
| ], |
| "move_to(bottle, table)": [ |
| "place(bottle, table)" |
| ], |
| "place(bottle, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_messy_pour_water_episode_14.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_book_into_backpack_episode_6", |
| "actions_list": [ |
| "left:move_to(none, bag), right:move_to(none, book)", |
| "left:grasp(bag), right:grasp(book)", |
| "left:pick_up(bag), right:pick_up(book)", |
| "left:no_ops, right:move_to(book, bag)", |
| "left:no_ops, right:place(book, bag)", |
| "left:place(bag, table), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, bag), right:move_to(none, book)": [ |
| "left:grasp(bag), right:grasp(book)" |
| ], |
| "left:grasp(bag), right:grasp(book)": [ |
| "left:pick_up(bag), right:pick_up(book)" |
| ], |
| "left:pick_up(bag), right:pick_up(book)": [ |
| "left:no_ops, right:move_to(book, bag)" |
| ], |
| "left:no_ops, right:move_to(book, bag)": [ |
| "left:no_ops, right:place(book, bag)" |
| ], |
| "left:no_ops, right:place(book, bag)": [ |
| "left:place(bag, table), right:no_ops" |
| ], |
| "left:place(bag, table), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pick_book_into_backpack_episode_6.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_mask_episode_19", |
| "actions_list": [ |
| "left:move_to(none, mask_box), right:move_to(none, mask)", |
| "left:grasp(mask_box), right:grasp(mask)", |
| "left:pick_up(mask_box), right:pick_up(mask)", |
| "left:no_ops, right:move_to(mask, mask_box)", |
| "left:no_ops, right:place(mask, mask_box)", |
| "left:place(mask_box, table), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, mask_box), right:move_to(none, mask)": [ |
| "left:grasp(mask_box), right:grasp(mask)" |
| ], |
| "left:grasp(mask_box), right:grasp(mask)": [ |
| "left:pick_up(mask_box), right:pick_up(mask)" |
| ], |
| "left:pick_up(mask_box), right:pick_up(mask)": [ |
| "left:no_ops, right:move_to(mask, mask_box)" |
| ], |
| "left:no_ops, right:move_to(mask, mask_box)": [ |
| "left:no_ops, right:place(mask, mask_box)" |
| ], |
| "left:no_ops, right:place(mask, mask_box)": [ |
| "left:place(mask_box, table), right:no_ops" |
| ], |
| "left:place(mask_box, table), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pick_mask_episode_19.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_up_the_pen_episode_12", |
| "actions_list": [ |
| "left:no_ops, right:move_to(none, pen)", |
| "left:no_ops, right:grasp(pen)", |
| "left:no_ops, right:pick_up(pen)", |
| "transfer(right, left, pen)", |
| "left:move_to(pen, pen_holder), right:no_ops", |
| "left:place(pen, pen_holder), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:no_ops, right:move_to(none, pen)": [ |
| "left:no_ops, right:grasp(pen)" |
| ], |
| "left:no_ops, right:grasp(pen)": [ |
| "left:no_ops, right:pick_up(pen)" |
| ], |
| "left:no_ops, right:pick_up(pen)": [ |
| "transfer(right, left, pen)" |
| ], |
| "transfer(right, left, pen)": [ |
| "left:move_to(pen, pen_holder), right:no_ops" |
| ], |
| "left:move_to(pen, pen_holder), right:no_ops": [ |
| "left:place(pen, pen_holder), right:no_ops" |
| ], |
| "left:place(pen, pen_holder), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pick_up_the_pen_episode_12.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_plug_charger_episode_15", |
| "actions_list": [ |
| "left:no_ops, right:move_to(none, charger)", |
| "left:no_ops, right:grasp(charger)", |
| "left:no_ops, right:pick_up(charger)", |
| "transfer(right, left, charger_cable)", |
| "left:no_ops, right:move_to(none, charger)", |
| "left:no_ops, right:grasp(charger)", |
| "left:no_ops, right:pick_up(charger)", |
| "right:no_ops, left:move_to(charge, plug_in_plates)", |
| "right:no_ops, left:insert(charge, plug_in_plates)" |
| ], |
| "gt_dag": { |
| "left:no_ops, right:move_to(none, charger)": [ |
| "left:no_ops, right:grasp(charger)" |
| ], |
| "left:no_ops, right:grasp(charger)": [ |
| "left:no_ops, right:pick_up(charger)" |
| ], |
| "left:no_ops, right:pick_up(charger)": [ |
| "transfer(right, left, charger_cable)" |
| ], |
| "transfer(right, left, charger_cable)": [ |
| "left:no_ops, right:move_to(none, charger)<2>" |
| ], |
| "left:no_ops, right:move_to(none, charger)<1>": [], |
| "left:no_ops, right:grasp(charger)<1>": [], |
| "left:no_ops, right:pick_up(charger)<1>": [], |
| "right:no_ops, left:move_to(charge, plug_in_plates)": [ |
| "right:no_ops, left:insert(charge, plug_in_plates)" |
| ], |
| "right:no_ops, left:insert(charge, plug_in_plates)": [], |
| "left:no_ops, right:move_to(none, charger)<2>": [ |
| "left:no_ops, right:grasp(charger)<2>" |
| ], |
| "left:no_ops, right:grasp(charger)<2>": [ |
| "left:no_ops, right:pick_up(charger)<2>" |
| ], |
| "left:no_ops, right:pick_up(charger)<2>": [ |
| "right:no_ops, left:move_to(charge, plug_in_plates)" |
| ] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_plug_charger_episode_15.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8", |
| "actions_list": [ |
| "move_to(none, thermos)", |
| "grasp(thermos)", |
| "pick_up(thermos)", |
| "move_to(thermos, cup)", |
| "pour(thermos, water, cup)", |
| "move_to(thermos, table)", |
| "place(thermos, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, thermos)": [ |
| "grasp(thermos)" |
| ], |
| "grasp(thermos)": [ |
| "pick_up(thermos)" |
| ], |
| "pick_up(thermos)": [ |
| "move_to(thermos, cup)" |
| ], |
| "move_to(thermos, cup)": [ |
| "pour(thermos, water, cup)" |
| ], |
| "pour(thermos, water, cup)": [ |
| "move_to(thermos, table)" |
| ], |
| "move_to(thermos, table)": [ |
| "place(thermos, table)" |
| ], |
| "place(thermos, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10", |
| "actions_list": [ |
| "move_to(none, thermos)", |
| "grasp(thermos)", |
| "pick_up(thermos)", |
| "move_to(thermos, glass)", |
| "pour(thermos, water, glass)", |
| "move_to(thermos, table)", |
| "place(thermos, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, thermos)": [ |
| "grasp(thermos)" |
| ], |
| "grasp(thermos)": [ |
| "pick_up(thermos)" |
| ], |
| "pick_up(thermos)": [ |
| "move_to(thermos, glass)" |
| ], |
| "move_to(thermos, glass)": [ |
| "pour(thermos, water, glass)" |
| ], |
| "pour(thermos, water, glass)": [ |
| "move_to(thermos, table)" |
| ], |
| "move_to(thermos, table)": [ |
| "place(thermos, table)" |
| ], |
| "place(thermos, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_can2cup_episode_6", |
| "actions_list": [ |
| "move_to(none, can)", |
| "grasp(can)", |
| "pick_up(can)", |
| "move_to(can, cup)", |
| "pour(can, drink, cup)", |
| "right:move_to(can, table), left:no_ops", |
| "right:place(can, table), left:no_ops" |
| ], |
| "gt_dag": { |
| "move_to(none, can)": [ |
| "grasp(can)" |
| ], |
| "grasp(can)": [ |
| "pick_up(can)" |
| ], |
| "pick_up(can)": [ |
| "move_to(can, cup)" |
| ], |
| "move_to(can, cup)": [ |
| "pour(can, drink, cup)" |
| ], |
| "pour(can, drink, cup)": [ |
| "right:move_to(can, table), left:no_ops" |
| ], |
| "right:move_to(can, table), left:no_ops": [ |
| "right:place(can, table), left:no_ops" |
| ], |
| "right:place(can, table), left:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pour_water_can2cup_episode_6.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0", |
| "actions_list": [ |
| "move_to(none, dispenser)", |
| "grasp(dispenser)", |
| "pick_up(dispenser)", |
| "pour(dispenser, water, glass)", |
| "place(dispenser, original_position)" |
| ], |
| "gt_dag": { |
| "move_to(none, dispenser)": [ |
| "grasp(dispenser)" |
| ], |
| "grasp(dispenser)": [ |
| "pick_up(dispenser)" |
| ], |
| "pick_up(dispenser)": [ |
| "pour(dispenser, water, glass)" |
| ], |
| "pour(dispenser, water, glass)": [ |
| "place(dispenser, original_position)" |
| ], |
| "place(dispenser, original_position)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pour_water_jigger2cup_episode_0.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15", |
| "actions_list": [ |
| "move_to(none, water_bottle)", |
| "grasp(water_bottle)", |
| "pick_up(water_bottle)", |
| "pour(water_bottle, water, mug)", |
| "place(water_bottle, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, water_bottle)": [ |
| "grasp(water_bottle)" |
| ], |
| "grasp(water_bottle)": [ |
| "pick_up(water_bottle)" |
| ], |
| "pick_up(water_bottle)": [ |
| "pour(water_bottle, water, mug)" |
| ], |
| "pour(water_bottle, water, mug)": [ |
| "place(water_bottle, table)" |
| ], |
| "place(water_bottle, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_pour_water_left_hand_episode_15.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_9", |
| "actions_list": [ |
| "left:move_to(none, chips_container), right:no_ops", |
| "left:grasp(chips_container), right:no_ops", |
| "left:pick_up(chips_container), right:no_ops", |
| "left:no_ops, right:move_to(none, transparent_container)", |
| "left:no_ops, right:grasp(transparent_container)", |
| "left:no_ops, right:push(transparent_container, close)", |
| "left:place(chips_container, table), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, chips_container), right:no_ops": [ |
| "left:grasp(chips_container), right:no_ops" |
| ], |
| "left:grasp(chips_container), right:no_ops": [ |
| "left:pick_up(chips_container), right:no_ops" |
| ], |
| "left:pick_up(chips_container), right:no_ops": [ |
| "left:no_ops, right:move_to(none, transparent_container)" |
| ], |
| "left:no_ops, right:move_to(none, transparent_container)": [ |
| "left:no_ops, right:grasp(transparent_container)" |
| ], |
| "left:no_ops, right:grasp(transparent_container)": [ |
| "left:no_ops, right:push(transparent_container, close)" |
| ], |
| "left:no_ops, right:push(transparent_container, close)": [ |
| "left:place(chips_container, table), right:no_ops" |
| ], |
| "left:place(chips_container, table), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_9.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_push_mirror_surface_episode_11", |
| "actions_list": [ |
| "left:move_to(none, mirror), right:no_ops", |
| "left:grasp(mirror), right:no_ops", |
| "left:push(mirror, inside_the_table), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, mirror), right:no_ops": [ |
| "left:grasp(mirror), right:no_ops" |
| ], |
| "left:grasp(mirror), right:no_ops": [ |
| "left:push(mirror, inside_the_table), right:no_ops" |
| ], |
| "left:push(mirror, inside_the_table), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_push_mirror_surface_episode_11.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_glasses_into_box_episode_0", |
| "actions_list": [ |
| "left:move_to(none, glasses_box), right:move_to(none, glasses)", |
| "left:grasp(glasses_box), right:grasp(glasses)", |
| "left:no_ops, right:pick_up(glasses)", |
| "left:no_ops, right:move_to(glasses, glasses_box)", |
| "left:no_ops, right:place(glasses, glasses_box)", |
| "left:no_ops, right:move_to(glasses_box_lid)", |
| "left:no_ops, right:press(none, glasses_box_lid)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, glasses_box), right:move_to(none, glasses)": [ |
| "left:grasp(glasses_box), right:grasp(glasses)" |
| ], |
| "left:grasp(glasses_box), right:grasp(glasses)": [ |
| "left:no_ops, right:pick_up(glasses)" |
| ], |
| "left:no_ops, right:pick_up(glasses)": [ |
| "left:no_ops, right:move_to(glasses, glasses_box)" |
| ], |
| "left:no_ops, right:move_to(glasses, glasses_box)": [ |
| "left:no_ops, right:place(glasses, glasses_box)" |
| ], |
| "left:no_ops, right:place(glasses, glasses_box)": [ |
| "left:no_ops, right:move_to(glasses_box_lid)" |
| ], |
| "left:no_ops, right:move_to(glasses_box_lid)": [ |
| "left:no_ops, right:press(none, glasses_box_lid)" |
| ], |
| "left:no_ops, right:press(none, glasses_box_lid)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_put_glasses_into_box_episode_0.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_17", |
| "actions_list": [ |
| "left:move_to(none, cabinet_left_door_handle), right:move_to(can)", |
| "left:grasp(cabinet_left_door_handle), right:grasp(can)", |
| "left:pull(cabinet_left_door_handle, open), right:pick_up(ccan)", |
| "left:no_ops, right:move_to(can, inside_of_cabinet)", |
| "left:no_ops, right:place(can, inside_of_cabinet)", |
| "left:push(cabinet_left_door_handle, close), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, cabinet_left_door_handle), right:move_to(can)": [ |
| "left:grasp(cabinet_left_door_handle), right:grasp(can)" |
| ], |
| "left:grasp(cabinet_left_door_handle), right:grasp(can)": [ |
| "left:pull(cabinet_left_door_handle, open), right:pick_up(ccan)" |
| ], |
| "left:pull(cabinet_left_door_handle, open), right:pick_up(ccan)": [ |
| "left:no_ops, right:move_to(can, inside_of_cabinet)" |
| ], |
| "left:no_ops, right:move_to(can, inside_of_cabinet)": [ |
| "left:no_ops, right:place(can, inside_of_cabinet)" |
| ], |
| "left:no_ops, right:place(can, inside_of_cabinet)": [ |
| "left:push(cabinet_left_door_handle, close), right:no_ops" |
| ], |
| "left:push(cabinet_left_door_handle, close), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_put_object_into_cabinet_episode_17.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14", |
| "actions_list": [ |
| "move_to(none, microwave_handle)", |
| "grasp(microwave_handle)", |
| "pull(microwave_handle, stater_of_open)", |
| "move_to(none, snack_box)", |
| "grasp(snack_box)", |
| "pick_up(snack_box)", |
| "move_to(snack_box, inside_of_microwave)", |
| "place(snack_box, inside_of_microwave)", |
| "move_to(microwave_door_handle)", |
| "grasp(microwave_door_handle)", |
| "push(microwave_door_handle, state_of_close)" |
| ], |
| "gt_dag": { |
| "move_to(none, microwave_handle)": [ |
| "grasp(microwave_handle)" |
| ], |
| "grasp(microwave_handle)": [ |
| "pull(microwave_handle, stater_of_open)" |
| ], |
| "pull(microwave_handle, stater_of_open)": [ |
| "move_to(none, snack_box)" |
| ], |
| "move_to(none, snack_box)": [ |
| "grasp(snack_box)" |
| ], |
| "grasp(snack_box)": [ |
| "pick_up(snack_box)" |
| ], |
| "pick_up(snack_box)": [ |
| "move_to(snack_box, inside_of_microwave)" |
| ], |
| "move_to(snack_box, inside_of_microwave)": [ |
| "place(snack_box, inside_of_microwave)" |
| ], |
| "place(snack_box, inside_of_microwave)": [ |
| "move_to(microwave_door_handle)" |
| ], |
| "move_to(microwave_door_handle)": [ |
| "grasp(microwave_door_handle)" |
| ], |
| "grasp(microwave_door_handle)": [ |
| "push(microwave_door_handle, state_of_close)" |
| ], |
| "push(microwave_door_handle, state_of_close)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_put_snack_into_microwave_episode_14.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_19", |
| "actions_list": [ |
| "left:move_to(none, container_lid_left_handle), right:move_to(none, container_lid_right_handle)", |
| "left:grasp(container_lid_left_handle), right:grasp(container_lid_right_handle)", |
| "left:pick_up(container_lid), right:pick_up(container_lid)", |
| "transfer(right, left, container_lid)", |
| "left:move_to(container_lid, table), right:no_ops", |
| "left:place(container_lid, table), right:no_ops", |
| "left:move_to(none, medicine_container), right:no_ops", |
| "left:grasp(medicine_container), right:no_ops", |
| "left:pick_up(medicine_container), right:no_ops", |
| "left:move_to(medicine_container, tabletop), right:no_ops", |
| "left:place(medicine_container, tabletop), right:no_ops" |
| ], |
| "gt_dag": { |
| "left:move_to(none, container_lid_left_handle), right:move_to(none, container_lid_right_handle)": [ |
| "left:grasp(container_lid_left_handle), right:grasp(container_lid_right_handle)" |
| ], |
| "left:grasp(container_lid_left_handle), right:grasp(container_lid_right_handle)": [ |
| "left:pick_up(container_lid), right:pick_up(container_lid)" |
| ], |
| "left:pick_up(container_lid), right:pick_up(container_lid)": [ |
| "transfer(right, left, container_lid)" |
| ], |
| "transfer(right, left, container_lid)": [ |
| "left:move_to(container_lid, table), right:no_ops" |
| ], |
| "left:move_to(container_lid, table), right:no_ops": [ |
| "left:place(container_lid, table), right:no_ops" |
| ], |
| "left:place(container_lid, table), right:no_ops": [ |
| "left:move_to(none, medicine_container), right:no_ops" |
| ], |
| "left:move_to(none, medicine_container), right:no_ops": [ |
| "left:grasp(medicine_container), right:no_ops" |
| ], |
| "left:grasp(medicine_container), right:no_ops": [ |
| "left:pick_up(medicine_container), right:no_ops" |
| ], |
| "left:pick_up(medicine_container), right:no_ops": [ |
| "left:move_to(medicine_container, tabletop), right:no_ops" |
| ], |
| "left:move_to(medicine_container, tabletop), right:no_ops": [ |
| "left:place(medicine_container, tabletop), right:no_ops" |
| ], |
| "left:place(medicine_container, tabletop), right:no_ops": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_19.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_unplug_charger_episode_12", |
| "actions_list": [ |
| "left:move_to(none, socket), right:move_to(none, charger_plug)", |
| "left:grasp(socket), right:grasp(charger_plug)", |
| "left:hold(socket), right:pullout(charger_plug, socket)", |
| "left:no_ops, right:move_to(charger_plug, table)", |
| "left:no_ops, right:place(charger_plug, table)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, socket), right:move_to(none, charger_plug)": [ |
| "left:grasp(socket), right:grasp(charger_plug)" |
| ], |
| "left:grasp(socket), right:grasp(charger_plug)": [ |
| "left:hold(socket), right:pullout(charger_plug, socket)" |
| ], |
| "left:hold(socket), right:pullout(charger_plug, socket)": [ |
| "left:no_ops, right:move_to(charger_plug, table)" |
| ], |
| "left:no_ops, right:move_to(charger_plug, table)": [ |
| "left:no_ops, right:place(charger_plug, table)" |
| ], |
| "left:no_ops, right:place(charger_plug, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_unplug_charger_episode_12.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_15", |
| "actions_list": [ |
| "left:move_to(none, faucet_handle), right:move_to(none, mug_handle)", |
| "left:grasp(faucet_handle), right:grasp(mug_handle)", |
| "left:no_ops, right:pick_up(mug)", |
| "left:no_ops, right:move_to(mug, under_of_faucet)", |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)", |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)", |
| "left:no_ops, right:place(mug, countertop)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, faucet_handle), right:move_to(none, mug_handle)": [ |
| "left:grasp(faucet_handle), right:grasp(mug_handle)" |
| ], |
| "left:grasp(faucet_handle), right:grasp(mug_handle)": [ |
| "left:no_ops, right:pick_up(mug)" |
| ], |
| "left:no_ops, right:pick_up(mug)": [ |
| "left:no_ops, right:move_to(mug, under_of_faucet)" |
| ], |
| "left:no_ops, right:move_to(mug, under_of_faucet)": [ |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)" |
| ], |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)": [ |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)" |
| ], |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)": [ |
| "left:no_ops, right:place(mug, countertop)" |
| ], |
| "left:no_ops, right:place(mug, countertop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_wash_cup_5_episode_15.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_56", |
| "actions_list": [ |
| "left:move_to(none, faucet_handle), right:move_to(none, mug_handle)", |
| "left:grasp(faucet_handle), right:grasp(mug_handle)", |
| "left:no_ops, right:pick_up(mug)", |
| "left:on_ops, right:move_to(mug, under_of_faucet)", |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)", |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)", |
| "left:no_ops, right:place(mug, countertop)" |
| ], |
| "gt_dag": { |
| "left:move_to(none, faucet_handle), right:move_to(none, mug_handle)": [ |
| "left:grasp(faucet_handle), right:grasp(mug_handle)" |
| ], |
| "left:grasp(faucet_handle), right:grasp(mug_handle)": [ |
| "left:no_ops, right:pick_up(mug)" |
| ], |
| "left:no_ops, right:pick_up(mug)": [ |
| "left:on_ops, right:move_to(mug, under_of_faucet)" |
| ], |
| "left:on_ops, right:move_to(mug, under_of_faucet)": [ |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)" |
| ], |
| "left:turn(faucet_handle, down, state_of_open), right:hold(mug)": [ |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)" |
| ], |
| "left:turn(faucet_handle, up, state_of_close), right:move_to(mug, countertop)": [ |
| "left:no_ops, right:place(mug, countertop)" |
| ], |
| "left:no_ops, right:place(mug, countertop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_wash_cup_5_episode_56.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7", |
| "actions_list": [ |
| "move_to(none, watering_can_handle)", |
| "grasp(watering_can)", |
| "pick_up(watering_can)", |
| "move_to(watering_can, plant)", |
| "pour(watering_can, water, plant)", |
| "move_to(watering_can, table)", |
| "place(watering_can, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, watering_can_handle)": [ |
| "grasp(watering_can)" |
| ], |
| "grasp(watering_can)": [ |
| "pick_up(watering_can)" |
| ], |
| "pick_up(watering_can)": [ |
| "move_to(watering_can, plant)" |
| ], |
| "move_to(watering_can, plant)": [ |
| "pour(watering_can, water, plant)" |
| ], |
| "pour(watering_can, water, plant)": [ |
| "move_to(watering_can, table)" |
| ], |
| "move_to(watering_can, table)": [ |
| "place(watering_can, table)" |
| ], |
| "place(watering_can, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_water_plant_4_episode_7.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17", |
| "actions_list": [ |
| "grasp(napkin)", |
| "wipe(wipe, spill, tabletop)" |
| ], |
| "gt_dag": { |
| "grasp(napkin)": [ |
| "wipe(wipe, spill, tabletop)" |
| ], |
| "wipe(wipe, spill, tabletop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_wipe_cherry_episode_17.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19", |
| "actions_list": [ |
| "move_to(none, cloth)", |
| "grasp(cloth)", |
| "wipe(cloth, none, tabletop)", |
| "place(cloth, tabletop)" |
| ], |
| "gt_dag": { |
| "move_to(none, cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "wipe(cloth, none, tabletop)" |
| ], |
| "wipe(cloth, none, tabletop)": [ |
| "place(cloth, tabletop)" |
| ], |
| "place(cloth, tabletop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_wipe_desk_episode_19.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17", |
| "actions_list": [ |
| "move_to(none, sponge)", |
| "grasp(sponge)", |
| "wipe(sponge, none, right_side_of_table)", |
| "place(sponge, middle_of_table)", |
| "move_to(none, sponge)", |
| "grasp(sponge)", |
| "wipe(sponge, none, left_side_of_table)", |
| "place(sponge, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, sponge)": [ |
| "grasp(sponge)" |
| ], |
| "grasp(sponge)": [ |
| "wipe(sponge, none, right_side_of_table)" |
| ], |
| "wipe(sponge, none, right_side_of_table)": [ |
| "place(sponge, middle_of_table)" |
| ], |
| "place(sponge, middle_of_table)": [ |
| "move_to(none, sponge)<2>" |
| ], |
| "move_to(none, sponge)<1>": [], |
| "grasp(sponge)<1>": [], |
| "wipe(sponge, none, left_side_of_table)": [ |
| "place(sponge, table)" |
| ], |
| "place(sponge, table)": [], |
| "move_to(none, sponge)<2>": [ |
| "grasp(sponge)<2>" |
| ], |
| "grasp(sponge)<2>": [ |
| "wipe(sponge, none, left_side_of_table)" |
| ] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984", |
| "actions_list": [ |
| "move_to(none, blue_cloth)", |
| "grasp(blue_cloth)", |
| "pull(blue_cloth, behind_the_pot)", |
| "place(napkin, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, blue_cloth)": [ |
| "grasp(blue_cloth)" |
| ], |
| "grasp(blue_cloth)": [ |
| "pull(blue_cloth, behind_the_pot)" |
| ], |
| "pull(blue_cloth, behind_the_pot)": [ |
| "place(napkin, table)" |
| ], |
| "place(napkin, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807", |
| "actions_list": [ |
| "move_to(none, condiment_bottle)", |
| "grasp(condiment_bottle)", |
| "pick_up(condiment_bottle)", |
| "pour(condiment_bottle, condiment, pot)" |
| ], |
| "gt_dag": { |
| "move_to(none, condiment_bottle)": [ |
| "grasp(condiment_bottle)" |
| ], |
| "grasp(condiment_bottle)": [ |
| "pick_up(condiment_bottle)" |
| ], |
| "pick_up(condiment_bottle)": [ |
| "pour(condiment_bottle, condiment, pot)" |
| ], |
| "pour(condiment_bottle, condiment, pot)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615", |
| "actions_list": [ |
| "move_to(none, purple_cloth)", |
| "grasp(purple_cloth)", |
| "pull(purple_cloth, left_side_of_basin)", |
| "place(purple_cloth, table)" |
| ], |
| "gt_dag": { |
| "move_to(none, purple_cloth)": [ |
| "grasp(purple_cloth)" |
| ], |
| "grasp(purple_cloth)": [ |
| "pull(purple_cloth, left_side_of_basin)" |
| ], |
| "pull(purple_cloth, left_side_of_basin)": [ |
| "place(purple_cloth, table)" |
| ], |
| "place(purple_cloth, table)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581", |
| "actions_list": [ |
| "move_to(none, condiment_bottle)", |
| "grasp(condiment_bottle)", |
| "pick_up(condiment_bottle)", |
| "move_to(condiment_bottle, bowl)", |
| "pour(condiment_bottle, condiment, bowl)", |
| "move_to(condiment_bottle, countertop)", |
| "place(condiment_bottle, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, condiment_bottle)": [ |
| "grasp(condiment_bottle)" |
| ], |
| "grasp(condiment_bottle)": [ |
| "pick_up(condiment_bottle)" |
| ], |
| "pick_up(condiment_bottle)": [ |
| "move_to(condiment_bottle, bowl)" |
| ], |
| "move_to(condiment_bottle, bowl)": [ |
| "pour(condiment_bottle, condiment, bowl)" |
| ], |
| "pour(condiment_bottle, condiment, bowl)": [ |
| "move_to(condiment_bottle, countertop)" |
| ], |
| "move_to(condiment_bottle, countertop)": [ |
| "place(condiment_bottle, countertop)" |
| ], |
| "place(condiment_bottle, countertop)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_33389", |
| "actions_list": [ |
| "move_to(none, detergent_bottle_handle)", |
| "grasp(detergent_bottle_handle)", |
| "pick_up(detergent_bottle)", |
| "move_to(detergent_bottle, washing_machine)", |
| "pour(detergent_bottle, detergent, washing_machine)" |
| ], |
| "gt_dag": { |
| "move_to(none, detergent_bottle_handle)": [ |
| "grasp(detergent_bottle_handle)" |
| ], |
| "grasp(detergent_bottle_handle)": [ |
| "pick_up(detergent_bottle)" |
| ], |
| "pick_up(detergent_bottle)": [ |
| "move_to(detergent_bottle, washing_machine)" |
| ], |
| "move_to(detergent_bottle, washing_machine)": [ |
| "pour(detergent_bottle, detergent, washing_machine)" |
| ], |
| "pour(detergent_bottle, detergent, washing_machine)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_33389.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_39970", |
| "actions_list": [ |
| "move_to(none, cloth)", |
| "grasp(cloth)", |
| "pick_up(cloth)", |
| "move_to(cloth, pan)", |
| "wipe(cloth, none, pan)" |
| ], |
| "gt_dag": { |
| "move_to(none, cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "pick_up(cloth)" |
| ], |
| "pick_up(cloth)": [ |
| "move_to(cloth, pan)" |
| ], |
| "move_to(cloth, pan)": [ |
| "wipe(cloth, none, pan)" |
| ], |
| "wipe(cloth, none, pan)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_39970.png" |
| }, |
| { |
| "id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_64406", |
| "actions_list": [ |
| "move_to(none, banana)", |
| "grasp(banana)", |
| "pick_up(banana)", |
| "move_to(banana, tray)", |
| "place(banana, tray)" |
| ], |
| "gt_dag": { |
| "move_to(none, banana)": [ |
| "grasp(banana)" |
| ], |
| "grasp(banana)": [ |
| "pick_up(banana)" |
| ], |
| "pick_up(banana)": [ |
| "move_to(banana, tray)" |
| ], |
| "move_to(banana, tray)": [ |
| "place(banana, tray)" |
| ], |
| "place(banana, tray)": [] |
| }, |
| "v2": "1_instruction_comprehension_explicit_object_goal_images_rtx_frames__new_85_85_droid#episode_64406.png" |
| } |
| ] |
