| [ |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm about to shower, respect my privacy> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, left_edge_of_the_shower_curtain),2-grasp(left_edge_of_the_shower_curtain),3-pull(left_edge_of_the_shower_curtain, left_side_of_the_shower_curtain)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm about to shower, respect my privacy> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(left_edge_of_the_shower_curtain)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm about to shower, respect my privacy> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_the_shower_curtain) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_476_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the room is a bit dark> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-press(light_switch)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_476_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the room is a bit dark> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_313_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this room is very dark> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.", |
| "gt_answer": "1-move_to(none, light_switch),2-press(light_switch)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_313_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this room is very dark> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-press(light_switch)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_313_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this room is very dark> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_960_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go into the room to find something> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-turn(door_handle,clockwise, open),4-push(door)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_960_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go into the room to find something> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go out> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-pull(door)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go out> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pull(door)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go out> as the goal, steps so far are shown in the video, is step 2-grasp(door_handle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_398_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to see what's behind the curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, shower_curtain),2-grasp(show_curtain),3-pull(show_curtain, right_side_of_the_shower_curtain)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_398_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to see what's behind the curtain> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(show_curtain)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_398_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to see what's behind the curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, shower_curtain) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_27_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the faucet is crooked and hard to use> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(faucet, clockwise, middle_of_the_sink),4-move_to(none, faucet_handle),5-press(faucet_handle)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_27_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the faucet is crooked and hard to use> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-turn(faucet, clockwise, middle_of_the_sink)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_27_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the faucet is crooked and hard to use> as the goal, steps so far are shown in the video, is step 2-grasp(faucet) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm going for a nap, the sunlight outside is too bright> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, left_edge_of_the_curtain),2-grasp(left_edge_of_the_curtain),3-pull(left_edge_of_the_curtain, right_side_of_the_curtain)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm going for a nap, the sunlight outside is too bright> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pull(left_edge_of_the_curtain, right_side_of_the_curtain)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm going for a nap, the sunlight outside is too bright> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_the_curtain) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_40_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go home but my hands are full with a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-turn(door_handle, anticlockwise, open),4-move_to(none, door),5-grasp(door),6-pull(door, inward)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_40_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go home but my hands are full with a box> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-grasp(door)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_40_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to go home but my hands are full with a box> as the goal, steps so far are shown in the video, is step 2-grasp(door_handle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_8_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to keep it clean and hygienic> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, red_lid),2-grasp(red_lid_handle),3-pick_up(red_lid),4-move_to(red_lid, white_bucket),5-place(red_lid, white_bucket)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_8_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to keep it clean and hygienic> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(red_lid_handle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_8_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to keep it clean and hygienic> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_lid) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_616_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the box can't fit more beer cans> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-turn(can, anticlockwise, parallel_to_the_box),5-place(can, box)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_616_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the box can't fit more beer cans> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_616_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the box can't fit more beer cans> as the goal, steps so far are shown in the video, is step 2-grasp(can) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_830_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these clothes> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "1-move_to(none, pink_towel),2-grasp(pink_towel),3-pick_up(pink_towel),4-move_to(pink_towel, plastic_bag),5-place(pink_towel, plastic_bag),6-move_to(none, brown_towel),7-grasp(brown_towel),8-pick_up(brown_towel),9-move_to(brown_towel, plastic_bag),10-place(brown_towel, plastic_bag)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_830_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these clothes> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-place(pink_towel, plastic_bag)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_830_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these clothes> as the goal, steps so far are shown in the video, is step 6-move_to(none, brown_towel) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1189_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to throw away some trash> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.", |
| "gt_answer": "1-move_to(none, trash_can_switch),2-press(trash_can_switch)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_224_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the cup shouldn't be placed like this> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, paper_cup),2-grasp(paper_cup),3-pick_up(paper_cup),4-turn(papaer_cup, anticlockwise, vertical_to_the_tray),5-place(paper_cup, tray)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_224_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the cup shouldn't be placed like this> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(paper_cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_224_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the cup shouldn't be placed like this> as the goal, steps so far are shown in the video, is step 2-grasp(paper_cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the pan is still a bit dirty> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, pot),5-wipe(cloth, none, pot)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the pan is still a bit dirty> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the pan is still a bit dirty> as the goal, steps so far are shown in the video, is step 4-move_to(cloth, pot) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_493_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, paper_ball),2-grasp(paper_ball),3-pick_up(paper_ball),4-move_to(paper_ball, trash_can),5-place(paper_ball, trash_can)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_493_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(paper_ball)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_493_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, is step 4-move_to(paper_ball, trash_can) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1264_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <nothing should be left in the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, can_in_the_sink),2-grasp(can),3-pick_up(can),4-move_to(can, countertop),5-place(can, countertop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1264_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <nothing should be left in the sink> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1264_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <nothing should be left in the sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, can_in_the_sink) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm leaving, I don't want anyone to come into my room later> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-pull(door),4-move_to(none, light_button),5-press(light_button)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm leaving, I don't want anyone to come into my room later> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pull(door)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm leaving, I don't want anyone to come into my room later> as the goal, steps so far are shown in the video, is step 3-pull(door) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1197_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <clean up the building blocks on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.", |
| "gt_answer": "1-move_to(none, red_block),2-grasp(red_block),3-pick_up(red_block),4-move_to(red_block, bowl),5-place(red_block, bowl),6-move_to(none,green_block),7-grasp(green_block),8-pick_up(green_block),9-move_to(green_block, bowl),10-place(green_block, bowl),11-move_to(none, yellow_block),12-grasp(yellow_block),13-pick_up(yellow_block),14-move_to(yellow_block, bowl),15-place(yellow_block, bowl),16-move_to(none, blue_block),17-grasp(blue_block),18-pick_up(blue_block),19-move_to(blue_block, bowl),20-place(blue_block, bowl)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1197_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <clean up the building blocks on the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "9-move_to(green_block, bowl), 10-place(green_block, bowl), 11-move_to(none, yellow_block), 12-grasp(yellow_block), 13-pick_up(yellow_block), 14-move_to(yellow_block, bowl), 15-place(yellow_block, bowl), 16-move_to(none, blue_block), 17-grasp(blue_block), 18-pick_up(blue_block), 19-move_to(blue_block, bowl), 20-place(blue_block, bowl)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this is a water cup, not a pen holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this is a water cup, not a pen holder> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(pen)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this is a water cup, not a pen holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_301_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I don't want the dishes in the cabinet to get dusty> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, left_cabinet_door),2-grasp(left_door_handle_of_the_cabinet),3-push(cabinet_door)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_301_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I don't want the dishes in the cabinet to get dusty> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(left_door_handle_of_the_cabinet)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_301_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I don't want the dishes in the cabinet to get dusty> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_cabinet_door) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_598_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <clean up the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 45 steps.", |
| "gt_answer": ",1-grasp(white_bottle),2-pick_up(white_bottle),3-place(white_bottle, plastic_bag),4-grasp(brown_bottle),5-pick_up(brown_bottle),6-place(brown_bottle, plastic_bag),7-grasp(blue_bottle),8-pick_up(blue_bottle),9-place(blue_bottle, plastic_bag),10-grasp(orange_bottle),11-pick_up(orange_bottle),12-place(orange_bottle, plastic_bag),13-grasp(pink_bottle),14-pick_up(pink_bottle),15-place(pink_bottle, plastic_bag),16-grasp(yellow_bottle),17-pick_up(yellow_bottle),18-place(yellow_bottle, plastic_bag),19-grasp(purple_bottle),20-pick_up(purple_bottle),21-place(purple_bottle, plastic_bag),22-grasp(strawberry),23-pick_up(strawberry),24-place(strawberry, plastic_bag),25-grasp(brown_doll),26-pick_up(brown_doll),27-place(brown_doll, plastic_bag)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_598_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <clean up the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "9-place(blue_bottle, plastic_bag), 10-grasp(orange_bottle), 11-pick_up(orange_bottle), 12-place(orange_bottle, plastic_bag), 13-grasp(pink_bottle), 14-pick_up(pink_bottle), 15-place(pink_bottle, plastic_bag), 16-grasp(yellow_bottle), 17-pick_up(yellow_bottle), 18-place(yellow_bottle, plastic_bag), 19-grasp(purple_bottle), 20-pick_up(purple_bottle), 21-place(purple_bottle, plastic_bag), 22-grasp(strawberry), 23-pick_up(strawberry), 24-place(strawberry, plastic_bag), 25-grasp(brown_doll), 26-pick_up(brown_doll), 27-place(brown_doll, plastic_bag)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_598_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <clean up the table> as the goal, steps so far are shown in the video, is step 2-pick_up(white_bottle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1160_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to put something in the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid),4-move_to(pot_lid, table),5-place(pot_lid, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1160_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to put something in the pot> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(pot_lid_handle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1160_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to put something in the pot> as the goal, steps so far are shown in the video, is step 2-grasp(pot_lid_handle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the shoes are not arranged neatly> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, left_shoe),2-grasp(left_shoe),3-turn(left_shoe, clockwise, parallel_to_the_desktop),4-place(left_shoe, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the shoes are not arranged neatly> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-turn(left_shoe, clockwise, parallel_to_the_desktop)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the shoes are not arranged neatly> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_shoe) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_334_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to use the cup for a drink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can, glass),5-pour(can, water, glass),6-move_to(can, table),7-place(can, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_334_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to use the cup for a drink> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_334_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to use the cup for a drink> as the goal, steps so far are shown in the video, is step 2-grasp(can) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_604_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <opened the wrong cabinet door (the item is not here)> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-move_to(none, rightmost_door),2-grasp(rightmost_door),3-push(rightmost_door, close),4-move_to(none, middle_door_handle),5-grasp(middle_door_handle),6-pull(middle_door, open)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_604_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <opened the wrong cabinet door (the item is not here)> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "4-move_to(none, middle_door_handle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_604_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <opened the wrong cabinet door (the item is not here)> as the goal, steps so far are shown in the video, is step 3-push(rightmost_door, close) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_757_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <heat the food for me> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "1-move_to(none, white_dish),2-grasp(white_dish),3-pick_up(dish),4-move_to(dish, microwave),5-place(dish, microwave),6-move_to(none, microwave_door),7-grasp(microwave_door),8-push(microwave_door,close)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_757_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <heat the food for me> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "6-move_to(none, microwave_door)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_757_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <heat the food for me> as the goal, steps so far are shown in the video, is step 1-move_to(none, white_dish) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_360_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl will be used for something else> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, table),5-place(pen, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_360_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl will be used for something else> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(pen)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_360_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl will be used for something else> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_408_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <help me clean up the tissues on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.", |
| "gt_answer": "1-move_to(none, rightest_trash),2-grasp(rightest_trash),3-pick_up(rightest_trash),4-move_to(rightest_trash, trash_can),5-place(rightest_trash, trash_can),6-move_to(none, second_trash_on_the_left),7-grasp(second_trash_on_the_left),8-pick_up(second_trash_on_the_left),9-move_to(second_trash_on_the_left, trash_can),10-place(second_trash_on_the_left, trash_can),11-move_to(none, third_trash_on_the_left),12-grasp(third_trash_on_the_left),13-pick_up(third_trash_on_the_left),14-move_to(third_trash_on_the_left, trash_can),15-place(third_trash_on_the_left, trash_can),16-move_to(none, leftest_trash),17-grasp(leftest_trash),18-pick_up(leftest_trash),19-move_to(leftest_trash, trash_can),20-place(leftest_trash, trash_can)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_408_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <help me clean up the tissues on the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-place(rightest_trash, trash_can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_408_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <help me clean up the tissues on the table> as the goal, steps so far are shown in the video, is step 7-grasp(second_trash_on_the_left) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_409_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the sink is a bit clogged> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, trash),2-grasp(trash),3-pick_up(trash),4-move_to(trash, countertop),5-place(trash, countertop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_409_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the sink is a bit clogged> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(trash)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_409_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the sink is a bit clogged> as the goal, steps so far are shown in the video, is step 1-move_to(none, trash) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_17_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this container will be used for something else> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, paint),2-grasp(paint),3-pick_up(paint),4-move_to(paint, table),5-place(paint, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_17_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this container will be used for something else> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(paint)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_17_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this container will be used for something else> as the goal, steps so far are shown in the video, is step 2-grasp(paint) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_432_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.", |
| "gt_answer": "1-grasp(white_bottle),2-pick_up(white_bottle),3-place(white_bottle, plate),4-grasp(yellow_bottle),5-pick_up(yellow_bottle),6-place(yellow_bottle, plate),7-grasp(blue_bottle),8-pick_up(blue_bottle),9-place(blue_bottle, plate),10-grasp(green_bottle),11-pick_up(green_bottle),12-place(green_bottle, plate),13-grasp(brown_bottle),14-pick_up(brown_bottle),15-place(brown_bottle, plate)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_432_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "7-grasp(blue_bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_432_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, is step 4-grasp(yellow_bottle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_684_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <about to leave, check if drawers are closed> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, white_drawer_handle),2-grasp(white_drawer_handle),3-push(white_drawer, inward)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_326_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to add candy to the kid's bowl too> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, sprinkles, plate),5-move_to(spoon_with_sprinkles, cup),6-pour(spoon, sprinkles, cup),7-move_to(spoon, table),8-place(spoon, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_326_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to add candy to the kid's bowl too> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-move_to(spoon_with_sprinkles, cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_326_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to add candy to the kid's bowl too> as the goal, steps so far are shown in the video, is step 5-move_to(spoon_with_sprinkles, cup) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_258_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <someone will sit on the left chair later> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.", |
| "gt_answer": "1-grasp(first_rope),2-pick_up(first_rope),3-place(first_rope, box),4-grasp(second_rope),5-pick_up(second_rope),6-place(second_rope, box),7-grasp(third_rope),8-pick_up(third_rope),9-place(third_rope, box)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_258_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <someone will sit on the left chair later> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pick_up(second_rope)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_258_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <someone will sit on the left chair later> as the goal, steps so far are shown in the video, is step 3-place(first_rope, box) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_172_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit dirty> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, none, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_172_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit dirty> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-wipe(towel, none, table)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_172_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit dirty> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to do laundry but haven't added detergent> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, detergent),2-grasp(detergent),3-pick_up(detergent),4-move_to(detergent, washing_machine_box),5-pour(detergent, detergent, washing_machine_box)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to do laundry but haven't added detergent> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(detergent, detergent, washing_machine_box)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to do laundry but haven't added detergent> as the goal, steps so far are shown in the video, is step 2-grasp(detergent) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1013_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these black clothes> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, black_socks),2-grasp(black_socks),3-pick_up(black_socks),4-move_to(black_socks, white_paper_bag),5-place(black_socks, white_paper_bag)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1013_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these black clothes> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "4-move_to(black_socks, white_paper_bag)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1013_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want to take these black clothes> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_socks) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_81_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the chairs are a bit messy> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, chair),2-grasp(chair),3-push(chair, under_the_table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_123_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit messy> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, thread),2-grasp(thread),3-pick_up(thread),4-move_to(thread, box),5-place(thread, box)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_123_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit messy> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-place(thread, box)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_123_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit messy> as the goal, steps so far are shown in the video, is step 3-pick_up(thread) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the bowl will be used for something else> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.", |
| "gt_answer": "1-grasp(first_pear),2-pick_up(first_pear),3-place(first_pear, table),4-grasp(second_pear),5-pick_up(second_pear),6-place(second_pear, table),7-grasp(third_pear),8-pick_up(third_pear),9-place(third_pear, table),10-grasp(fourth_pear),11-pick_up(fourth_pear),12-place(fourth_pear, table),13-grasp(apple),14-pick_up(apple),15-place(apple, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the bowl will be used for something else> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "8-pick_up(third_pear)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the bowl will be used for something else> as the goal, steps so far are shown in the video, is step 7-grasp(third_pear) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_843_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this food is not enough> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, pasta),2-grasp(pasta),3-pick_up(pasta),4-move_to(pasta, pot),5-pour(paper_box , pasta, pot),6-move_to(pasta, table),7-place(pasta, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_843_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this food is not enough> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(pasta)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_843_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this food is not enough> as the goal, steps so far are shown in the video, is step 2-grasp(pasta) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_919_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <put away these black parts> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 18 steps.", |
| "gt_answer": "1-move_to(none, first_black_block),2-grasp(first_black_block),3-pick_up(first_black_block),4-move_to(first_black_block, drawer),5-place(first_black_block, drawer),6-move_to(none, second_black_block),7-grasp(second_black_block),8-pick_up(second_black_block),9-move_to(second_black_block, drawer),10-place(second_black_block, drawer),11-move_to(none, third_black_block),12-grasp(third_black_block),13-pick_up(third_black_block),14-move_to(third_black_block, drawer),15-place(third_black_block, drawer),16-move_to(none, drawer_handle),17-grasp(drawer_handle),18-push(drawer_handle, close)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_919_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <put away these black parts> as the goal, steps so far are shown in the video, is step 6-move_to(none, second_black_block) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_387_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <put the bowl away> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, the_third_cabinet),5-place(bowl, the_third_cabinet)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_387_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <put the bowl away> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_2124_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(none, drawer_handle),7-grasp(drawer_handle),8-push(drawer)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_2124_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(screwdriver)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_2124_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table> as the goal, steps so far are shown in the video, is step 4-move_to(screwdriver, drawer) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <getting ready to do laundry> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, washing_machine_lid),2-grasp(washing_machine_lid_handle),3-push(washing_machine_lid, close)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <getting ready to do laundry> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-push(washing_machine_lid, close)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <getting ready to do laundry> as the goal, steps so far are shown in the video, is step 1-move_to(none, washing_machine_lid) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_687_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <prepare a clean cup for a guest> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, cup_handle),2-grasp(cup_handle),3-pick_up(cup),4-move_to(cup, left_side_of_the_table),5-place(cup, left_side_of_the_table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_687_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <prepare a clean cup for a guest> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_687_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <prepare a clean cup for a guest> as the goal, steps so far are shown in the video, is step 2-grasp(cup_handle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <organize the cups to save space> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "1-move_to(none , right_cup),2-move_to(none , right_cup),3-pick_up(right_cup),4-move_to(right_cup, middle_cup),5-place(right_cup, middle_cup),6-move_to(none , middle_cup),7-grasp(middle_cup),8-pick_up(middle_cup),9-move_to(middle_cup, left_cup),10-place(middle_cup, left_cup)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <organize the cups to save space> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "6-move_to(none, middle_cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <organize the cups to save space> as the goal, steps so far are shown in the video, is step 3-pick_up(right_cup) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_342_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl is a bit dirty> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, under_of_the_faucet),5-place(bowl, under_of_the_faucet),6-move_to(none,faucet_handle),7-grasp(faucet_handle),8-turn(faucet, clockwise, left),9-turn(faucet, anticlockwise, right),10-move_to(none, bowl),11-grasp(bowl),12-pick_up(bowl)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_342_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl is a bit dirty> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "7-grasp(faucet_handle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_342_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <this bowl is a bit dirty> as the goal, steps so far are shown in the video, is step 2-grasp(bowl) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_261_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table to make it neater> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 45 steps.", |
| "gt_answer": "1-grasp(orange_bottle),2-pick_up(orange_bottle),3-place(orange_bottle, plate),4-grasp(rightest_white_bottle),5-pick_up(rightest_white_bottlee),6-place(rightest_white_bottle, plate),7-grasp(middle_white_bottle),8-pick_up(middle_white_bottle),9-place(middle_white_bottle, plate),10-grasp(leftest_white_bottle),11-pick_up(leftest_white_bottle),12-place(leftest_white_bottle, plate),13-grasp(brown_bottle),14-pick_up(brown_bottle),15-place(brown_bottle, plate),16-grasp(strawberry),17-pick_up(strawberry),18-place(strawberry, plate),19-grasp(left_big_box),20-pick_up(left_big_box),21-place(left_big_box, black_cube),22-grasp(right_big_box),23-pick_up(right_big_box),24-place(right_big_box, black_cube),25-grasp(small_box),26-pick_up(small_box),27-place(small_box , black_cube)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_261_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <tidy up the table to make it neater> as the goal, steps so far are shown in the video, is step 7-grasp(middle_white_bottle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_20_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit dirty> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(towel),2-grasp(towel),3-wipe(towel, none, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_20_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <the table is a bit dirty> as the goal, steps so far are shown in the video, is step 1-move_to(towel) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The table doesn't look clean at the moment. Could you fix that?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none, table),4-place(cloth, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The table doesn't look clean at the moment. Could you fix that?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The table doesn't look clean at the moment. Could you fix that?> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It would be great if we could move some of that liquid over to the smaller bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.", |
| "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, pot),5-scoop(spoon,water, pot),6-move_to(spoon, glass_bowl),7-pour(spoon,water, glass_bowl),8-move_to(spoon,table),9-place(spoon,table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It would be great if we could move some of that liquid over to the smaller bowl> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "6-move_to(spoon, glass_bowl)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It would be great if we could move some of that liquid over to the smaller bowl> as the goal, steps so far are shown in the video, is step 4-move_to(spoon, pot) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Our leafy buddy might appreciate a little refreshment> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can_handle),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can,water, plant),6-move_to(watering_can, table),7-place(watering_can, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Our leafy buddy might appreciate a little refreshment> as the goal, steps so far are shown in the video, is step 1-move_to(none, watering_can_handle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_3936_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need to use the computer, but something feels off on the desk> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, mouse),2-grasp(mouse),3-pick_up(mouse),4-move_to(mouse,mouse_pad),5-place(mouse, mouse_pad)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_3936_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need to use the computer, but something feels off on the desk> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(mouse)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_3936_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need to use the computer, but something feels off on the desk> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_episode_1845_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The computer is ready to use, but the workspace doesn't feel properly organized for comfortable hand positioning> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, mouse),2-grasp(mouse),3-pick_up(mouse),4-move_to( mouse,mouse_pad),5-place(mouse, mouse_pad)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_episode_1845_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The computer is ready to use, but the workspace doesn't feel properly organized for comfortable hand positioning> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(mouse)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png", |
| "frame_15.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_arrange_mouse_episode_1845_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The computer is ready to use, but the workspace doesn't feel properly organized for comfortable hand positioning> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_fold_towel_episode_815_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The towels seem a bit messy. Can you help tidy them up?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-move_to(none, left_edge_the_towel),2-grasp(left_edge_the_towel),3-fold(left_edge_the_towel, right_side_of_the_towel)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_fold_towel_episode_815_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The towels seem a bit messy. Can you help tidy them up?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(left_edge_the_towel)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_fold_towel_episode_815_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The towels seem a bit messy. Can you help tidy them up?> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_the_towel) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_55_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now. Can you assist me?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle,water, cup),6-move_to(bottle,red_mat),7-place(bottle,red_mat)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_55_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now. Can you assist me?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(bottle, water, cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_55_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now. Can you assist me?> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_369_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want a refreshing drink right now. Could you help?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, juice_bottle),2-grasp(juice_bottle),3-pick_up(juice_bottle),4-move_to(juice_bottle, mug),5-pour(juice_bottle, juice, mug),6-move_to(juice_bottle, red_mat),7-place(juice_bottle, red_mat)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_369_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want a refreshing drink right now. Could you help?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(juice_bottle, juice, mug)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_369_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I want a refreshing drink right now. Could you help?> as the goal, steps so far are shown in the video, is step 4-move_to(juice_bottle, mug) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_870_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long meeting, and I could use a little refreshment> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, drink, cup),6-move_to(bottle, red_mat),7-place(bottle, red_mat)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_870_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long meeting, and I could use a little refreshment> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_870_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long meeting, and I could use a little refreshment> as the goal, steps so far are shown in the video, is step 5-pour(bottle, drink, cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_1789_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Seeing this empty mug reminds me how thirsty I am> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-move_to(water_bottle, cup),5-pour(water_bottle,water, cup),6-move_to(water_bottle, red_mat),7-place(water_bottle, red_mat)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_1789_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Seeing this empty mug reminds me how thirsty I am> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(water_bottle, water, cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_1789_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Seeing this empty mug reminds me how thirsty I am> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_2434_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <A nice cool drink would be perfect right now. Can you help me with it?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, water, cup),6-move_to(bottle, red_mat),7-place(bottle, red_mat)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_2434_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <A nice cool drink would be perfect right now. Can you help me with it?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "4-move_to(bottle, cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/DSL_shrinked_pour_water_episode_2434_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <A nice cool drink would be perfect right now. Can you help me with it?> as the goal, steps so far are shown in the video, is step 4-move_to(bottle, cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <My throat feels a bit dry, could you help me with something?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, glass),5-pour(bottle, water, glass),,6-move_to(bottle, right_side_of_the_cup),7-place(bottle, right_side_of_the_table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <My throat feels a bit dry, could you help me with something?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <My throat feels a bit dry, could you help me with something?> as the goal, steps so far are shown in the video, is step 5-pour(bottle, water, glass), finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit hot, could you help me cool down my drink?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none,ice_scoop_handle),2-grasp(ice_scoop),3-pick_up(ice_scoop),4-move_to(ice_scoop, glass),5-pour(ice_scoop, ice, glass),6-move_to(ice_scoop, table),7-place(ice_scoop, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit hot, could you help me cool down my drink?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(ice_scoop)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit hot, could you help me cool down my drink?> as the goal, steps so far are shown in the video, is step 4-move_to(ice_scoop, glass) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use something orange-flavored to quench my thirst> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, orange_juice_measuring_cup),2-grasp(orange_juice_measuring_cup),3-pick_up(orange_juice_measuring_cup),4-move_to(orange_juice_measuring_cup, goblet),5-pour(orange_juice_measuring_cup, juice, goblet),6-move_to(measuring_cup, table),7-place(measuring_cup, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use something orange-flavored to quench my thirst> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(orange_juice_measuring_cup, juice, goblet)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use something orange-flavored to quench my thirst> as the goal, steps so far are shown in the video, is step 1-move_to(none, orange_juice_measuring_cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the goblet would look better if it had more pineapple juice in it, wouldn't you say?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, yellow_juice_measuring_cup),2-grasp(yellow_juice_measuring_cup),3-pick_up(yellow_juice_measuring_cup),4-move_to(yellow_juice_measuring_cup, goblet),5-pour(yellow_juice_measuring_cup, yellow_juice, goblet),6-move_to(measuring_cup, table),7-place(measuring_cup, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the goblet would look better if it had more pineapple juice in it, wouldn't you say?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(yellow_juice_measuring_cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the goblet would look better if it had more pineapple juice in it, wouldn't you say?> as the goal, steps so far are shown in the video, is step 3-pick_up(yellow_juice_measuring_cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_collect_earphone_episode_0_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <It feels great when everything is in its place. Could you help out?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "1-left:no_ops, right:move_to(none, earphone_case),2-left:no_ops, right:grasp(earphone_case),3-left:no_ops, right:pick_up(earphone_case),4-left:move_to(none, earphone_case), right:no_ops,5-transfer(right, left, earphone_case),6-left:move_to(earphone_case, drawer), right:no_ops,7-left:place(earphone_case, drawer), right:no_ops,8-left:no_ops, right:move_to(none,drawer_handle),9-left:no_ops, right:grasp(drawer_handle),10-left:no_ops, right:push(drawer, close)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The leaves on this plant seem a little dry; could you do something to help it?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can_handle),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can,water,plant),6-move_to(watering_can,table),7-place(watering_can,table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The leaves on this plant seem a little dry; could you do something to help it?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(watering_can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The leaves on this plant seem a little dry; could you do something to help it?> as the goal, steps so far are shown in the video, is step 4-move_to(watering_can, plant) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_5_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Seems like my phone needs a bit of power. Could you help me out?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone),2-left:grasp(charging_cable), right:grasp(phone),3-left:pick_up(charging_cabe), right:pick_up(phone),4-left:move_to(cable, phone_charging_port), right:hold(phone),5-left:insert(cable, phone_charging_port), right:hold(phone),6-left:no_ops, right:move_to(phone, table),7-left:no_ops, right:place(phone,table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_23_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <It would be great if my phone had more battery power for the day ahead> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone),2-left:grasp(charging_cable), right:grasp(phone),3-left:pick_up(charging_cabe), right:pick_up(phone),4-left:move_to(cable, phone_charging_port), right:hold(phone),5-left:insert(cable, phone_charging_port), right:hold(phone),6-left:no_ops, right:move_to(phone, table),7-left:no_ops, right:place(phone,table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit parched, could you assist me with this?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, mug),5-pour(bottle, water, mug),6-move_to(bottle, table),7-place(bottle, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit parched, could you assist me with this?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "6-move_to(bottle, table)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm feeling a bit parched, could you assist me with this?> as the goal, steps so far are shown in the video, is step 4-move_to(bottle, mug) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pick_book_into_backpack_episode_6_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I need to get ready for class. Can you help me with my stuff?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-left:move_to(none, bag), right:move_to(none,book),2-left:grasp(bag), right:grasp(book),3-left:pick_up(bag), right:pick_up(book),4-left:no_ops, right:move_to(book,bag),5-left:no_ops, right:place(book,bag),6-left:place(bag, table), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pick_mask_episode_19_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Let's make sure everything is in its place before we start working> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-left:move_to(none, mask_box), right:move_to(none,mask),2-left:grasp(mask_box), right:grasp(mask),3-left:pick_up(mask_box), right:pick_up(mask ),4-left:no_ops, right:move_to(mask,mask_box),5-left:no_ops, right:place(mask,mask_box),6-left:place(mask_box,table), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pick_up_the_pen_episode_12_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <It would be nice to have everything in its place. Could you make that happen?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-left:no_ops, right:move_to(none, pen),2-left:no_ops, right:grasp(pen),3-left:no_ops, right:pick_up(pen),4-transfer(right, left, pen),5-left:move_to(pen, pen_holder), right:no_ops,6-left:place(pen, pen_holder), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_plug_charger_episode_15_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <The battery icon is flashing red. Think you could help?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.", |
| "gt_answer": "1-left:no_ops, right:move_to(none, charger),2-left:no_ops, right:grasp(charger),3-left:no_ops, right:pick_up(charger),4-transfer(right,left,charger_cable),5-left:no_ops, right:move_to(none, charger),6-left:no_ops, right:grasp(charger),7-left:no_ops, right:pick_up(charger),8-right:no_ops, left:move_to(charge, plug_in_plates),9-right:no_ops, left:insert(charge,plug_in_plates)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now, and the cup seems ready for it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, thermos),2-grasp(thermos),3-pick_up(thermos),4-move_to(thermos, cup),5-pour(thermos, water, cup),6-move_to(thermos, table),7-place(thermos, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now, and the cup seems ready for it> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "5-pour(thermos, water, cup)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I could really use a drink right now, and the cup seems ready for it> as the goal, steps so far are shown in the video, is step 5-pour(thermos, water, cup) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long day, and I could really use something to drink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, thermos),2-grasp(thermos),3-pick_up(thermos),4-move_to(thermos, glass),5-pour(thermos, water, glass),6-move_to(thermos, table),7-place(thermos, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long day, and I could really use something to drink> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "4-move_to(thermos, glass)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's been a long day, and I could really use something to drink> as the goal, steps so far are shown in the video, is step 1-move_to(none, thermos) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_can2cup_episode_6_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I could really use a refreshment right now, can you assist me?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can, cup),5-pour(can, drink, cup),6-right:move_to(can, table), left:no_ops,7-right:place(can, table), left:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm thinking it's time for a little cocktail. What do you say?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, dispenser),2-grasp(dispenser),3-pick_up(dispenser),4-pour(dispenser,water,glass),5-place(dispenser, original_position)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm thinking it's time for a little cocktail. What do you say?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(dispenser)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'm thinking it's time for a little cocktail. What do you say?> as the goal, steps so far are shown in the video, is step 2-grasp(dispenser) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need something refreshing, think you could help?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-pour(water_bottle,water, mug),5-place(water_bottle, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need something refreshing, think you could help?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(water_bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I need something refreshing, think you could help?> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_9_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I just finished snacking, but I'm worried about keeping these chips fresh for next time> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, chips_container), right:no_ops,2-left:grasp(chips_container), right:no_ops,3-left:pick_up(chips_container), right:no_ops,4-left:no_ops, right:move_to(none, transparent_container),5-left:no_ops, right:grasp(transparent_container),6-left:no_ops, right:push(transparent_container, close),7-left:place(chips_container, table), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_push_mirror_surface_episode_11_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <It's hard to see my reflection from this angle. Do you mind making an adjustment?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "1-left:move_to(none, mirror), right:no_ops,2-left:grasp(mirror), right:no_ops,3-left:push(mirror, inside_the_table), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_put_glasses_into_box_episode_0_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Looks like the glasses need a safe place to stay. Can you help with that?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, glasses_box), right:move_to(none, glasses),2-left:grasp(glasses_box), right:grasp(glasses),3-left:no_ops, right:pick_up(glasses),4-left:no_ops, right:move_to(glasses, glasses_box),5-left:no_ops, right:place(glasses, glasses_box),6-left:no_ops, right:move_to(glasses_box_lid),7-left:no_ops, right:press(glasses_box_lid)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_17_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I don't want to leave things out on the counter. Could you help tidy up a bit?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "1-left:move_to(none, cabinet_left_door_handle), right:move_to(can),2-left:grasp(cabinet_left_door_handle), right:grasp(can),3-left:pull(cabinet_left_door_handle, open), right:pick_up(ccan),4-left:no_ops, right:move_to(can, inside_of_cabinet),5-left:no_ops, right:place(can,inside_of_cabinet),6-left:push(cabinet_left_door_handle, close), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <These treats lose their appeal when they're not served at the right temperature> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.", |
| "gt_answer": "1-move_to(none, microwave_handle),2-grasp(microwave_handle),3-pull(microwave_handle,stater_of_open),4-move_to(none,snack_box),5-grasp(snack_box),6-pick_up(snack_box),7-move_to(snack_box, inside_of_microwave),8-place(snack_box, inside_of_microwave),9-move_to(none, microwave_door_handle),10-grasp(microwave_door_handle),11-push(microwave_door_handle,state_of_close)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <These treats lose their appeal when they're not served at the right temperature> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "7-move_to(snack_box, inside_of_microwave)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <These treats lose their appeal when they're not served at the right temperature> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_handle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_19_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I should probably take something for this pain, could you check what's in that container for me?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.", |
| "gt_answer": "1-left:move_to(none, container_lid_left_handle), right:move_to(none, container_lid_right_handle),2-left:grasp( container_lid_left_handle), right:grasp(container_lid_right_handle),3-left:pick_up( container_lid), right:pick_up(container_lid),4-transfer(right, left, container_lid),5-left:move_to(container_lid, table), right:no_ops,6-left:place(container_lid, table), right:no_ops,7-left:move_to(none, medicine_container), right:no_ops,8-left:grasp( medicine_container), right:no_ops,9-left:pick_up(medicine_container), right:no_ops,10-left:move_to(medicine_container, tabletop), right:no_ops,11-left:place(medicine_container, tabletop), right:no_ops", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_unplug_charger_episode_12_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I need to free up an outlet for another device. Can you assist?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-left:move_to(none, socket), right:move_to(none, charger_plug),2-left:grasp(socket), right:grasp(charger_plug),3-left:hold(socket), right:pullout(charger_plug, socket),4-left:no_ops, right:move_to(charger_plug, table),5-left:no_ops, right:place(charger_plug, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_15_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <I'd prefer not to mix the flavors of my previous drink with my next one> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, faucet_handle), right:move_to(none, mug_handle),2-left:grasp(faucet_handle), right:grasp(mug_handle),3-left:no_ops, right:pick_up(mug),4-left:no_ops, right:move_to(mug, under_of_faucet),5-left:turn(faucet_handle,down,state_of_open), right:hold(mug),6-left:turn(faucet_handle,up,state_of_close), right:move_to(mug,countertop),7-left:no_ops, right:place(mug,countertop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_56_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <That mug looks not perfect for a refreshing drink. Can you make it ready for me?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-left:move_to(none, faucet_handle), right:move_to(none, mug_handle),2-left:grasp(faucet_handle), right:grasp(mug_handle),3-left:no_ops, right:pick_up(mug),4-left:on_ops, right:move_to(mug, under_of_faucet),5-left:turn(faucet_handle,down,state_of_open), right:hold(mug),6-left:turn(faucet_handle,up,state_of_close), right:move_to(mug,countertop),7-left:no_ops, right:place(mug,countertop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The plant on the table seems a bit thirsty, doesn't it?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can, water,plant),6-move_to(watering_can, table),7-place(watering_can, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The plant on the table seems a bit thirsty, doesn't it?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(watering_can)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The plant on the table seems a bit thirsty, doesn't it?> as the goal, steps so far are shown in the video, is step 2-grasp(watering_can) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It looks like someone had a little accident on the desk. Could you tidy it up?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.", |
| "gt_answer": "1-grasp(napkin),2-wipe(wipe, spill, tabletop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It looks like someone had a little accident on the desk. Could you tidy it up?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-wipe(wipe, spill, tabletop)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It looks like someone had a little accident on the desk. Could you tidy it up?> as the goal, steps so far are shown in the video, is step 1-grasp(napkin) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the workspace would look better with a quick clean> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none , tabletop),4-place(cloth, tabletop)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the workspace would look better with a quick clean> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the workspace would look better with a quick clean> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think something spilled here earlier. Could you take care of it?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-wipe(sponge, none, right_side_of_table),4-place(sponge, middle_of_table),5-move_to(none, sponge),6-grasp(sponge),7-wipe(sponge, none, left_side_of_table),8-place(sponge, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think something spilled here earlier. Could you take care of it?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "4-place(sponge, middle_of_table)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think something spilled here earlier. Could you take care of it?> as the goal, steps so far are shown in the video, is step 1-move_to(none, sponge) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The surface seems to have collected a bit of dust since this morning> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, blue_cloth),2-grasp(blue_cloth),3-pull(blue_cloth, behind_the_pot),4-place(napkin, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The surface seems to have collected a bit of dust since this morning> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(blue_cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The surface seems to have collected a bit of dust since this morning> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_cloth) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Could you help me get the ingredients into the pot? That would be great!> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, condiment_bottle),2-grasp(condiment_bottle),3-pick_up(condiment_bottle),4-pour(condiment_bottle,condiment, pot)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Could you help me get the ingredients into the pot? That would be great!> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(condiment_bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Could you help me get the ingredients into the pot? That would be great!> as the goal, steps so far are shown in the video, is step 2-grasp(condiment_bottle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Before we start working, the surface needs a bit of freshening up> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "1-move_to(none, purple_cloth),2-grasp(purple_cloth),3-pull(purple_cloth, left_side_of_basin),4-place(purple_cloth, table)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Before we start working, the surface needs a bit of freshening up> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(purple_cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Before we start working, the surface needs a bit of freshening up> as the goal, steps so far are shown in the video, is step 1-move_to(none, purple_cloth) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24115_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'd prefer these ingredients to be heated through before serving them> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, sushi_roll),2-grasp(sushi_roll),3-pick_up(sushi_roll),4-move_to(sushi_roll, pot),5-place(sushi_roll, pot)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24115_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'd prefer these ingredients to be heated through before serving them> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "3-pick_up(sushi_roll)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png", |
| "frame_14.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24115_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I'd prefer these ingredients to be heated through before serving them> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi_roll) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's more convenient to enjoy these without having to reach into the package each time> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "1-move_to(none, condiment_bottle),2-grasp(condiment_bottle),3-pick_up(condiment_bottle),4-move_to(condiment_bottle, bowl),5-pour(condiment_bottle,condiment, bowl)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's more convenient to enjoy these without having to reach into the package each time> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(condiment_bottle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <It's more convenient to enjoy these without having to reach into the package each time> as the goal, steps so far are shown in the video, is step 1-move_to(none, condiment_bottle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png", |
| "frame_08.png", |
| "frame_09.png", |
| "frame_10.png", |
| "frame_11.png", |
| "frame_12.png", |
| "frame_13.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The laundry could use some extra freshness. Could you assist me with it?> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, detergent_bottle_handle),2-grasp(detergent_bottle_handle),3-pick_up(detergent_bottle),4-move_to(detergent_bottle, washing_machine),5-pour(detergent_bottle, detergent, washing_machine)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The laundry could use some extra freshness. Could you assist me with it?> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(detergent_bottle_handle)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <The laundry could use some extra freshness. Could you assist me with it?> as the goal, steps so far are shown in the video, is step 2-grasp(detergent_bottle_handle) finished?", |
| "gt_answer": "yes", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png", |
| "frame_06.png", |
| "frame_07.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the pan needs a quick clean-up before we start cooking again> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, pan),5-wipe( cloth, none, pan)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q2", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the pan needs a quick clean-up before we start cooking again> as the goal, steps so far are shown in the video, what is the next step to do?", |
| "gt_answer": "2-grasp(cloth)", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png", |
| "frame_03.png", |
| "frame_04.png", |
| "frame_05.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q3", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <I think the pan needs a quick clean-up before we start cooking again> as the goal, steps so far are shown in the video, is step 3-pick_up(cloth) finished?", |
| "gt_answer": "no", |
| "image_urls": [ |
| "frame_00.png", |
| "frame_01.png", |
| "frame_02.png" |
| ] |
| }, |
| { |
| "unique_id": "1_instruction_comprehension/implicit_demand_goal/images/rtx_frames__new_85_85_droid#episode_64406_Q1", |
| "task_type": [ |
| "1_instruction_comprehension", |
| "implicit_demand_goal" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <After that intense workout, I could really use something with potassium to help with recovery> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "1-move_to(none, banana),2-grasp(banana),3-pick_up(banana),4-move_to(banana, tray),5-place(banana, tray)", |
| "image_urls": [ |
| "frame_00.png" |
| ] |
| } |
| ] |
